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

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

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