Terrain hopper steering - Revision history

Jca: /* Steering */

2019-07-03T13:55:02Z

Steering

← Older revision		Revision as of 15:55, 3 July 2019
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	Steering is limited to +/- 28 degrees in RHD, this gives a turning radius of 2m.		Steering is limited to +/- 28 degrees in RHD, this gives a turning radius of 2m.

	Steering is sensed by RHD plugin "~~as5047~~", that receives data from encoder interface - a teensy.		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.		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.

2019-07-03T13:02:45Z

Steering

← Older revision		Revision as of 15:02, 3 July 2019
Line 12:		Line 12:
	Steering is limited to +/- 28 degrees in RHD, this gives a turning radius of 2m.		Steering is limited to +/- 28 degrees in RHD, this gives a turning radius of 2m.

			Steering is sensed by RHD plugin "as5047", 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==

2019-07-03T12:57:43Z

← Older revision		Revision as of 14:57, 3 July 2019
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	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.


	==CAD drawings==		==CAD drawings==
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	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]]

2019-03-07T15:51:08Z

Maxon motor

← Older revision		Revision as of 17:51, 7 March 2019
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	GEAR		GEAR
	Planetary Gearhead GP 52		Planetary Gearhead GP 52
	C Ø52 mm, 4 - 30 Nm, Ceramic Version		C Ø52 mm, 4 - 30 Nm, Ceramic Version
	Outer diameter: 52 mm		Outer diameter: 52 mm
	Reduction: 81 : 1		Reduction: 81 : 1
	Max. continuous torque: 30 Nm		Max. continuous torque: 30 Nm
	Part No.: 223093 (345€)		Part No.: 223093 (345€)

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

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

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

2019-03-07T15:50:34Z

Maxon motor

← Older revision		Revision as of 17:50, 7 March 2019
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	==Maxon motor==		==Maxon motor==

	The motor for steering is a		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)

2019-03-07T15:35:01Z

← Older revision		Revision as of 17:35, 7 March 2019
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	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]]
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	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

2019-02-10T06:54:21Z

2019-02-10T06:53:48Z

← Older revision		Revision as of 08:53, 10 February 2019
Line 1:		Line 1:

	Overview of new steering proposal		Back to [[terrain-hopper]]

			==CAD drawings==

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

			==Overview of new steering proposal==

	[[File:off-the-shelf-parts.png \| 600px]]		[[File:off-the-shelf-parts.png \| 600px]]

2019-01-09T12:31:10Z

← Older revision		Revision as of 14:31, 9 January 2019
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	This figure points to most of the off-the-shelf parts used.		This figure points to most of the off-the-shelf parts used.

	~~And the parts that need a bit of manufactoring~~

	[[File:modified-parts.png \| 800px]]		[[File:modified-parts.png \| 800px]]

2019-01-09T12:30:43Z

← Older revision		Revision as of 14:30, 9 January 2019
Line 3:		Line 3:

	[[File:off-the-shelf-parts.png \| 600px]]		[[File:off-the-shelf-parts.png \| 600px]]

			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.

	And the parts that need a bit of manufactoring		And the parts that need a bit of manufactoring

	[[File:modified-parts.png \| 800px]]		[[File:modified-parts.png \| 800px]]

			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.