Leo Rover - Rover Wheel v.2.0 Kit

Wheel motors

Buehler Motors 1.61.077.414

Leo Rover uses Buehler motors as the wheels actuators. Here you have all the useful resources listed in case you need to access the motors specifications.

Parameters:

12V DC motor with 12 CPR magnetic encoder
Motor specifications: 1 Nm, 40 RPM rated speed, planetary 3-stage gearbox with 73.1:1 ratio - see more
CNC-machined hub and motor tube, 3D-printed rim, torque plate and wheel mounts, rubber tire, 2x ball bearings
Prepared with 10cm 2x power wires and 4x encoder wires
Sealed with rubber seals to comply with IP66 protection rate
Provided with 2x M5 mounting holes that fit Rover Scarecrow

(The wheel stand is not included)

Pololu Romi 12 CPR magnetic encoders

Connection:

Encoder Pin	Mating Connection
M1	negative (-) pole of the motor & OUTA of Core2ROS
M2	positive (+) pole of the motor & OUTB of Core2ROS
VCC	+5V pin of Core2-ROS
OUT A	ENC A on Core2-ROS
OUT B	ENC B on Core2-ROS
GND	GND pin of Core2-ROS

Dimension drawings

Mind the encoder magnets are modified to fit Buehler Motors shaft. Internal hole is redrilled to 3 mm (instead of 1.5 mm).

Wheel tires

Tire specifications

Inner rim diameter: 2.8"
Outer diameter: ~ 125 mm
Width: ~ 70 mm
Typically described as for 1/10 scale Monster Truck RC vehicles

The dimensions may vary +- 10mm with no compatibility issues, remember the tires are made of rubber, they can stretch.

You can always look for different outer diameter tires, but it will change the rover's speed and force (slope/climbing ability). You can as well find different rubber compounds: softer or tougher ones. Keep in mind that softer compounds will affect Leo Rover's turning resistance, but on the other hand, will help climbing obstacles.

Higher outer diameter = higher speed & lower force

Lower outer diameter = lower speed & higher force

It's always a matter of compromise.

How to assemble:

Assembly manuals: Task 1: Wheel assembly

Leo Rover - Rover Wheel v.2.0 Kit

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