Steering System

Supplier Links

• https://us.misumi-ec.com/
• https://www.harborfreight.com/
• https://www.mcmaster.com/

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

• 8 in. Pneumatic Swivel Caster

Ackerman Steering Notes

• https://web.archive.org/web/20180325200857/http://sariel.pl/2015/03/virtual-pivot-steering-system/
• Gear Motor Options
  • NEMA 17 10:1 5mm input to 8mm output
  • NEMA 17 5:1 5mm input to 8mm output
  • NMEA 23 5:1 8mm Input to 14mm output

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

moteus r4.11

• 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