Rover Wheel v.2.0 is used in newest Leo Rovers v.1.6. Now you can use the design in your own projects with no need of getting the whole Rover.
The wheel is provided as a kit - super easy to build with only basic tools needed.
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:
Manufacturer | Leo ROVER |
---|