Home

>

Documentation

Leo Rover wheels

Prerequisites

Wheel motors

Buehler Motors 1.61.077.414

Leo Rover v. 1.6 (as well as older Turtle Rover) uses Buehler motors as the wheels actuators. Here you have all the useful resources listed in case you need to access the motors specifications.

Buehler Motors 1.61.077.414 with 12 CPR Romi encoder
Buehler Motors 1.61.077.414 Specification
CAD model - www.traceparts.com

Pololu Romi 12 CPR magnetic encoders

Connection: Encoder pin to mating connection

M1 - negative (-) pole of the motor

M2 - positive (+) pole of the motor

VCC - +5V pin on Core2-ROS

OUT A - ENC A on Core2-ROS

OUT B - ENC B on Core2-ROS

GND - GND pin on Core2-ROS

Dimension drawings

Mind the encoder magnets are modified to fit Buehler Motors shaft. Internal hole is redrilled to 3 mm (instead of 1.5 mm).

Drawings - https://docs.google.com/viewerng/viewer?url=https://www.pololu.com/file/0J1210/romi-encoder-dimension-diagram.pdf
CAD models - Romi Encoder Pair Kit, 12 CPR, 3.5-18V

Whhel tires

Tire specifications

  • Inner rim diameter: 2.8"
  • Outer diameter: ~ 125 mm
  • Width: ~ 70 mm
  • Typically described as for 1/10 scale Monster Truck RC vehicles

The dimensions may vary +- 10mm with no compatibility issues, remember the tires are made of rubber, they can stretch.

You can always look for different outer diameter tires, but it will change the Rover speed and force (slope/climbing ability). You can as well find different rubber compounds: softer or tougher ones. Keep in mind that softer compounds will affect the Rover turning resistance, but on the other hand will help climbing obstacles.

Higher outer diameter = higer speed & lower force

Lower outer diameter = lower speed & higher force

It's always a matter of compromise.

Roverspeed[m/s] = wheeldiameter[m]∗pi∗motorspeed[rpm]/60Roverspeed [m/s]= wheeldiameter[m]*pi*motorspeed[rpm]/60Roverspeed[m/s]=wheeldiameter[m]∗pi∗motorspeed[rpm]/60

Roverforce[N]=4∗motortorque[Nm]/wheeldiameter[m]Roverforce[N]=4*motortorque[Nm]/wheeldiameter[m]Roverforce[N]=4∗motortorque[Nm]/wheeldiameter[m]

Useful links

Stock tires of Leo Rover are similar to these: https://www.aliexpress.com/i/32735892787.html

For ex. you can look for tires to switch to here: https://www.rcplanet.com/1-10-monster-truck-tires/

Contents

Need help? Contact us - contact@fictionlab.pl