Download 2. Task Description - Field Robot Event 2014

 Figure 3.12: CAD of the axle module. Middle module houses electronics, wheel modules
the motors, transmission and steering servo
Wheel Modules Each axle module has two identical wheel modules and one central electronics module. The wheel modules house the Banebots RS540 12V DC motor, Banebots P60 Gearbox with a 26:1 transmission ratio and HK15298B servos used in the steering mechanism. Additionally, the wheel module uses a potentiometer to measure wheel turning angle and a thermistor for measuring the motor temperature. Each wheel of the robot has an AMT102‐V magnetic encoder on the transmission input shaft with a resolution of 2048 ticks per rotation. The odometer measurement is used for the kinematic model of the robot. The mounting of the encoder is shown in Figure 3.13 The wheel modules are built to be relatively simple to assemble and service. This is imperative since the original wheel module design allows for steering angles of up to 60 degrees in each direction, leaving only very limited space for the motor, transmission and steering servo. 176 Proceedings of the Field Robot Event 2014