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Hardware Setup

This document outlines the hardware components and specifications for the mecanum drive robot used in the MPC Holonomic Navigation project.

Mecanum Drive Specifications

Drive System

  • Configuration: 4-wheel mecanum drive (omni-directional)
  • Wheel Diameter: 152mm mecanum wheels
  • Material: Aluminum chassis with 3D printed motor mounts
  • Dimensions: 520mm × 480mm × 152mm (L×W×H)

Actuators

  • Motors: 4× AK60 brushless actuators
  • Controller: Integrated motor controllers
  • Encoders: Built-in high-resolution encoders (4096 CPR)
  • Communication: CAN bus interface (1Mbps)
  • Power: 24V DC power supply
  • Torque Rating: 3 N·m continuous, 22.7 N·m peak

Assembly Design

Mecanum Drive Assembly

The motor mounts are 3D printed using PLA material with 50% infill for durability. CAD models for the mounts are available in the /docs/stl directory.

Motor Mount

Wiring Diagram

Wiring Diagram

Control Architecture

The AK60 actuators connect to the Intel NUC through a CAN bus interface,we use a modified version of the WiCAN Hardware we use the USB2CAN Module from ODrive. The system uses ROS2 nodes to:

  1. Read encoder data from motors
  2. Calculate odometry
  3. Send velocity commands to individual wheels