Steering System
Supplier Links
Dual motor skid steering
This is the simplest design. The design is similar to what you may see on a zero-radius turn lawn mower. Two independently controlled rear wheel drives 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. This could be improve with a wider wheel base geometry.
Materials
Ackerman Steering Notes
- https://web.archive.org/web/20180325200857/http://sariel.pl/2015/03/virtual-pivot-steering-system/
- Gear Motor Options
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
Gear motor Details
- Model: - MG17-G5 NEMA 17 5:1 5mm input to 8mm output
- Max.Permissible Torque: 9Nm(79.66lb-in)
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