Terrain hopper steering

From Rsewiki
(Difference between revisions)
Jump to: navigation, search
(Steering)
 
(5 intermediate revisions by one user not shown)
Line 1: Line 1:
  
 
Back to [[TerrainHopper]]
 
Back to [[TerrainHopper]]
 +
 +
== Steering ==
 +
 +
Distance between axles is 0.93 m
 +
 +
Distance between king pins 0.55 m
 +
 +
Max steering angle actual is about 32 degrees (center heading)
 +
 +
Steering is limited to +/- 28 degrees in RHD, this gives a turning radius of 2m.
 +
 +
Steering is sensed by RHD plugin "as5047x2", that receives data from encoder interface - a teensy.
 +
 +
The steering angle (in degrees * 10 - positive left) is then transferred to "roboteq-can" RHD plugin, where the steer controller is implemented - and limited to +/- 28 degrees.
  
 
==CAD drawings==
 
==CAD drawings==
Line 6: Line 20:
 
See https://cad.onshape.com/documents/97c36fb21a7a858c57c0af9f/w/0d867586bc28d7a9194d7ff3/e/ca0f539fa3eee3cfe0ed4130  
 
See https://cad.onshape.com/documents/97c36fb21a7a858c57c0af9f/w/0d867586bc28d7a9194d7ff3/e/ca0f539fa3eee3cfe0ed4130  
  
==Overview of new steering proposal==
+
==Overview of new steering==
  
 
[[File:off-the-shelf-parts.png | 600px]]
 
[[File:off-the-shelf-parts.png | 600px]]
Line 14: Line 28:
 
This figure points to most of the off-the-shelf parts used.
 
This figure points to most of the off-the-shelf parts used.
  
 +
See purchase detail in Terrain-hopper binder (Christian office - red binder).
  
 
[[File:modified-parts.png | 800px]]
 
[[File:modified-parts.png | 800px]]
Line 21: Line 36:
 
This figure points to most of the parts that needs workshop assistance.
 
This figure points to most of the parts that needs workshop assistance.
 
Most of the parts - except axlesl (7 and 8) - can be manufactored on own workshop. The axles will be manufactored by axle supplier.
 
Most of the parts - except axlesl (7 and 8) - can be manufactored on own workshop. The axles will be manufactored by axle supplier.
 +
 +
==Maxon motor==
 +
 +
The motor for steering is a Gear-motor-encoder combination from Maxon:
 +
 +
GEAR
 +
Planetary Gearhead GP 52
 +
C Ø52 mm, 4 - 30 Nm, Ceramic Version
 +
Outer diameter: 52 mm
 +
Reduction: 81 : 1
 +
Max. continuous torque: 30 Nm
 +
Part No.: 223093 (345€)
 +
 +
MOTOR
 +
RE 40 Ø40 mm, Graphite Brushes, 150 Watt
 +
Part No.: 148867 (347€)
 +
Outer diameter: 40 mm
 +
Type power: 150 W
 +
Nominal voltage: 24 V
 +
No load speed: 7580 rpm
 +
Nominal torque (max. continuous torque): 177mNm
 +
 +
SENSOR
 +
Encoder MR, Type L, 256
 +
CPT, 3 Channels, with Line Driver (5V)
 +
Counts per turn: 256
 +
Number of channels: 3
 +
Line Driver: Yes
 +
Part No.: 225783  (93€)
 +
 +
Sensor has 10 pins, but cable is a 8 pole network cable, cable colors and (pin number (rj45 end))
 +
 +
1 NC
 +
2 VCC - blue/white    (5)
 +
3 GND - blue          (4)
 +
4 nc
 +
5 Ainv - orance/white (1)
 +
6 A    - orange      (2)
 +
7 Binv - green/white  (3)
 +
8 B    - green        (6)
 +
9 Iinv - brown/white  (7)
 +
10 I  - brown        (8)
 +
 +
The Maxon encoder sensor is not used (march 2019)

Latest revision as of 15:55, 3 July 2019

Back to TerrainHopper

Contents

[edit] Steering

Distance between axles is 0.93 m

Distance between king pins 0.55 m

Max steering angle actual is about 32 degrees (center heading)

Steering is limited to +/- 28 degrees in RHD, this gives a turning radius of 2m.

Steering is sensed by RHD plugin "as5047x2", that receives data from encoder interface - a teensy.

The steering angle (in degrees * 10 - positive left) is then transferred to "roboteq-can" RHD plugin, where the steer controller is implemented - and limited to +/- 28 degrees.

[edit] CAD drawings

See https://cad.onshape.com/documents/97c36fb21a7a858c57c0af9f/w/0d867586bc28d7a9194d7ff3/e/ca0f539fa3eee3cfe0ed4130

[edit] Overview of new steering

Off-the-shelf-parts.png

Figure 1. New steering part maintaining original steering axle position, but replacing with bearings and a belt drive to a maxon gear motor. This figure points to most of the off-the-shelf parts used.

See purchase detail in Terrain-hopper binder (Christian office - red binder).

Modified-parts.png

Figure 2. New steering part maintaining original steering axle position, but replacing with bearings and a belt drive to a maxon gear motor. This figure points to most of the parts that needs workshop assistance. Most of the parts - except axlesl (7 and 8) - can be manufactored on own workshop. The axles will be manufactored by axle supplier.

[edit] Maxon motor

The motor for steering is a Gear-motor-encoder combination from Maxon:

GEAR

Planetary Gearhead GP 52
C Ø52 mm, 4 - 30 Nm, Ceramic Version
Outer diameter: 52 mm
Reduction: 81 : 1
Max. continuous torque: 30 Nm
Part No.: 223093 (345€)

MOTOR

RE 40 Ø40 mm, Graphite Brushes, 150 Watt
Part No.: 148867 (347€)
Outer diameter: 40 mm
Type power: 150 W
Nominal voltage: 24 V
No load speed: 7580 rpm
Nominal torque (max. continuous torque): 177mNm

SENSOR

Encoder MR, Type L, 256
CPT, 3 Channels, with Line Driver (5V)
Counts per turn: 256
Number of channels: 3
Line Driver: Yes
Part No.: 225783  (93€)

Sensor has 10 pins, but cable is a 8 pole network cable, cable colors and (pin number (rj45 end))

1 NC
2 VCC - blue/white    (5)
3 GND - blue          (4)
4 nc
5 Ainv - orance/white (1)
6 A    - orange       (2)
7 Binv - green/white  (3)
8 B    - green        (6)
9 Iinv - brown/white  (7)
10 I   - brown        (8)

The Maxon encoder sensor is not used (march 2019)

Personal tools
Namespaces

Variants
Actions
Navigation
Toolbox