Steering System
Dual motor skid steering
This is the simplest design. The design is essentially the same you may see on a zero-radius turn lawn mower. Two independently controlled rear wheel drive with two caster wheels in the front. The draw backs are low handling performance at moderate speeds and on non-flat surfaces or rough terrain.
Ackermann Steering with Odrive Motor
Motor Details
Model: D5065 270kv
Torque: 1.99 Nm
Primary Shaft Diameter: 8 mm (D-shaft cut)
Primary Shaft Length: 30 mm
Secondary Shaft diameter: 8 mm
Secondary Shaft length: 16 mm
Ackermann Steering with mjbots Motor
Motor Controller Details
- 3 phase brushless FOC based control
- Voltage Input: 10-44V (<=10S)
- Temperature: -40-85C
- Peak Electrical Power: 500W
- Mass: 14.2g
- Control rate: 15-30kHz
- PWM switching rate: 15-60kHz
- 170 MHz 32 bit STM32G4 microcroprocessor
- Peak phase current: 100A
- Continuous phase current: 11A / 22A (w/o and w/ thermal management)
- Max electrical frequency: 3kHz
Motor Details
Model:mj5280
- Peak torque: 1.7 Nm
- Mass (with wires): 193 g
- Peak power: 600W
- Kv: 330
- Maximum RPM: 7500
- Outer diameter: 63mm
- Length: 25mm