Wiki source code of A4WD3 Wheeled

Last modified by Eric Nantel on 2023/11/03 07:06
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Eric Nantel 51.1 1 [[image:A4WD3-WH-KT.PNG||height="350" width="350"]]
Coleman Benson 4.2 2
Eric Nantel 52.1 3 [[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-a4wd3-rugged-wheeled-rover-kit.html||rel="noopener noreferrer" target="_blank"]]
Coleman Benson 4.2 4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
11 The Lynxmotion A4WD3 Rugged Rover is a general purpose mobile robotic platform. The frame is intended to be used in three configurations: 4WD; Mecanum & Tracked, and variations of each platform include without electronics (so developers can integrate their own parts); an RC version and microcontroller-based for autonomous or semi-autonomous use.
12
13 The machined aluminum frame integrates rotary seals around each motor shaft, and solid rubber cord between the frame and all panel openings, making it dust and water resistant. A large marine inspection hatch on the top panel provides easy access to internal parts as well as being able to quickly swap or recharge batteries. Aside from the internal electronics mounting plate, the platform is symmetric and can be inverted.
14
Eric Nantel 54.1 15 The rover includes four powerful 12V DC motors coupled to 51:1 all metal planetary gears. The rear shaft of each motor is equipped with a magnetic encoder which provides 12 pulses per revolution (PPR). These motors provide 4WD and allow the rover to reach a top speed of around 3m/s (120”/s) without payload.
Coleman Benson 4.2 16
17 Front and rear access panels are made of G10 composite and are intended to allow users to machine openings to add their own components, which may include a wired tether for power and control, LED or LCD feedback, a handle, or whatever else their application may need. Included are a pair of transparent polycarbonate panels which allow for an internally mounted camera and/or or LED lights for increased visibility. Additional panels are available separately.
18
19 This version includes (assembled) bead lock off road wheels offer great traction on a variety of surfaces and are foam filled and offer 40mm of ground clearance, allowing it to be used effectively over brush, forest floor, paved and unpaved roads, in urban environments and more. This wheeled version can reach a top speed of around 3m/s (120”/s) without payload.
20
21 = Features =
22
Eric Nantel 48.1 23 * Planetary geared DC motors (12V) with rear encoders
Coleman Benson 4.2 24 * Machined aluminum frame with G10 composite plates
25 * Shaft seals & solid rubber cord for water and dust resistance
26 * Internal mounting plate for electronics & battery
Eric Nantel 48.1 27 * Water and dust resistant frame
Coleman Benson 4.2 28
29 = Specifications =
30
Eric Nantel 48.1 31 **A4WD3 Wheeled**
Coleman Benson 4.2 32
Eric Nantel 48.1 33 * Max speed: ~~1.4m/s (55in/s)
34 * Weight: 5.0kg (11.023lbs)
35 * Rating: Water and dust resistant
36 * Chassis: Aluminum frame & G10 (fiberglass) Pannels
37 * Wheels: 158mm beadlock offroad tires
Coleman Benson 4.2 38
Eric Nantel 48.1 39 **Motors**
Eric Nantel 17.1 40
Eric Nantel 50.1 41 * Output Shaft: D-Shape 8mm
Eric Nantel 48.1 42 * Operating Voltage: 12VDC
43 * Gears: Metal planetary gear
44 * Unload Speed: 170RPM (±10%)
45 * Loaded Speed: 145RPM (±10%)
46 * Torque: 11.5kg.cm (9.98lb.in)
47 * Gear Ratio: 51:1
48 * Current: ≤3A
49
50 **Encoder**
51
52 * Operating Voltage: 5V
53 * Signal: Square wave AB 90 deg,
54 * Pulse: 12 PPR
55 * Frequency: 800kHz
56
Eric Nantel 36.1 57 = Dimensions =
58
Eric Nantel 48.1 59 * Length: 377mm / 14.843"
60 * Width: 437mm / 17.205"
61 * Height: 158mm / 6.220"
62 * Ground clearance: 41mm / 1.614"
63
Eric Nantel 47.1 64 {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-wheeled/WebHome/ROVER-A4WD3-WHEELED-Dimensions.png" height="400"/}}
Eric Nantel 36.1 65
Eric Nantel 49.1 66 = User Guide =
Eric Nantel 48.1 67
68 {{include context="NEW" reference="rover-kits.a4wd3-wheeled.a4wd3-wheeled-quickstart.WebHome"/}}
69
Eric Nantel 56.1 70 = CAD Files =
71
72 * [[attach:[email protected]]]
73
Coleman Benson 4.2 74 = What's Included =
75
Eric Nantel 30.1 76 (% style="max-width:775px" %)
Eric Nantel 39.1 77 |(% colspan="7" style="width:25px" %)(((
Eric Nantel 40.1 78 == **All Kits** ==
Eric Nantel 39.1 79 )))
Eric Nantel 32.2 80 |(% style="text-align:center; width:25px" %) |(% style="text-align:center; width:125px" %)**[[Rover Robots>>doc:rover-kits.WebHome]]**|(% colspan="3" rowspan="1" style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-screws.WebHome]]**|(% colspan="2" rowspan="1" style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.tools.hex-keys.WebHome]]**
81 | |(% style="width:125px" %)1x [[A4WD3-KT>>doc:rover-kits.a4wd3-frame-only.WebHome]]|(% style="width:125px" %)8x CPS-03|(% style="width:125px" %)4x SHS-19|(% style="width:125px" %)SHS-17|(% style="width:125px" %)1x HEX-1.5mm|(% style="width:125px" %)1x HEX-10mm
82 | |Frame Only|10mm x M3 Setscrew|12mm x M12|10mm x M3|Hex Key 1.5mm|Hex Key 10mm
Eric Nantel 47.1 83 | |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/WebHome/A4WD3-KT.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/CPS-03.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-19.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-17.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/tools/hex-keys/WebHome/HEX-1.5mm.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/tools/hex-keys/WebHome/HEX-10mm.PNG"/}}
Eric Nantel 32.2 84 | |(% style="text-align:center" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-washers.WebHome]]**|(% style="text-align:center" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**|(% style="text-align:center" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-wheels.WebHome]]**|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)
85 | |4x LW-01|4x A4WD3-WH|4x A3WD3-W-BL| | |
86 | |M12 Lock Washer|8mm to 17mm Hex Hub|Beadlock Wheel| | |
Eric Nantel 47.1 87 | |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-washers/WebHome/LW-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-tubing-hubs/WebHome/A4WD3-WH.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-wheels/WebHome/A4WD3-W-BL.PNG"/}}| | |
Coleman Benson 4.2 88
Eric Nantel 38.1 89 (% style="max-width:775px" %)
Eric Nantel 39.1 90 |(% colspan="7" %)(((
Eric Nantel 40.1 91 == **Autonomous Kit** ==
Eric Nantel 39.1 92 )))
Eric Nantel 38.1 93 |(% rowspan="1" style="text-align:center; width:25px" %) |(% colspan="3" rowspan="1" style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]**|(% style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-modules.WebHome]]**|(% style="text-align:center; width:125px" %)**[[Mot. Controllers>>doc:servo-erector-set-system.motors.motor-controllers.WebHome]]**|(% style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-batteries.WebHome]]**
Eric Nantel 35.1 94 | |(% style="width:125px" %)1x WH-XT60-XT30-01|(% style="width:125px" %)2x SC-01|(% style="width:125px" %)1x SEA-01|(% style="width:125px" %)1x [[BBU-01>>doc:servo-erector-set-system.ses-electronics.ses-modules.botboarduino.WebHome]]|(% style="width:125px" %)Sabertooth|(% style="width:125px" %)1x SL-LP-08
Eric Nantel 32.1 95 | |Power Harness|Servo Cable 12"|Servo Extension Cable 6"|BotBoarduino Microcontroller|2x12A|4000mAh 3s LiPo Battery
Eric Nantel 47.1 96 | |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/WH-XT60-XT30-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/SC-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/SEA-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/WebHome/BBU-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/motors/motor-controllers/WebHome/Sabertooth-2x12.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-batteries/WebHome/SL-LP-08.PNG"/}}
Eric Nantel 46.1 97 | |(% style="text-align:center" %)**[[doc:servo-erector-set-system.ses-electronics.ses-chargers.WebHome]]**|(% style="text-align:center" %)**[[doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]**| | | |
98 | |1x B3AC|1x USBC-02| | | |
99 | |LiPo Charger|USB Mini Cable| | | |
Eric Nantel 47.1 100 | |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-chargers/WebHome/B3AC.png"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/USBC-02.PNG"/}}| | | |
Eric Nantel 25.1 101
Eric Nantel 18.1 102 (% style="max-width:750px" %)
Eric Nantel 39.1 103 |(% colspan="7" %)(((
Eric Nantel 40.1 104 == **Radio Controlled Kit** ==
Eric Nantel 39.1 105 )))
Eric Nantel 33.1 106 |(% rowspan="1" style="text-align:center; width:25px" %) |(% colspan="3" rowspan="1" style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]**|(% style="text-align:center; width:125px" %) |(% style="text-align:center; width:125px" %)[[**Mot. Controller**>>doc:servo-erector-set-system.motors.motor-controllers.WebHome]]|(% style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-batteries.WebHome]]**
Eric Nantel 35.1 107 | |(% style="width:125px" %)1x WH-XT60-XT30-01|(% style="width:125px" %) |(% style="width:125px" %)1x SEA-01|(% style="width:125px" %)1x T8S-BT|(% style="width:125px" %)Sabertooth|(% style="width:125px" %)1x SL-LP-08
Eric Nantel 32.1 108 | |Power Harness|Servo Cable 12"|Servo Extension Cable 6"|8 CH Remote with PPM Receiver|2x12A|4000mAh 3s LiPo Battery
Eric Nantel 47.1 109 | |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/WH-XT60-XT30-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/SC-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/SEA-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/wireless/WebHome/T8S-BT.png"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/motors/motor-controllers/WebHome/Sabertooth-2x12.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-batteries/WebHome/SL-LP-08.PNG"/}}
Eric Nantel 35.1 110 | |(% style="text-align:center" %)[[doc:servo-erector-set-system.ses-electronics.ses-chargers.WebHome]]| | | | |
111 | |1x B3AC| | | | |
112 | |LiPo Charger| | | | |
Eric Nantel 47.1 113 | |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-chargers/WebHome/B3AC.png"/}}| | | | |

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