OST23 HW¶
Link to module repo: OST23 HW
Overview¶
The steerable drive wheel ost23 is a modular drive system for ground-controlled vehicles. With its narrow design, it is suitable for navigating between rows of plants on arable land. It has two electric drives. The upper one is used to control the wheel. The drive motor is located in the middle and drives the wheel hub gearbox via a toothed belt. The upper fixed part of the wheel can be attached to the rover as required using the flange surfaces. The wheel is supplied with 48V via a power cable. The CAN bus communication and the safety signals pass through the second cable.
Check reference project with implemented wheels:
Specifications¶
| Type | ost23 |
|---|---|
| Dimension | Height: 1.3m, Width: 0.28m , Length: 0.53m (wheel diameter) |
| Weight | ~ 60kg |
| Payload | ~ 150kg |
| Electric Drives | 48V (45V- 56V), 46A (nominal) |
| Drive Unit | 240Nm (280Nm max), 1.0kW |
| Turn Unit | 112Nm , 0.75kW |
| Speed | 1.0m/s (3.6km/h) |
| Steering deflection | 270° (-135° - 135°) |
| Material cost | ~12'500 CHF (each, for 2 quantities) |
Hardware and Assembly desciption¶
For detailled information check the Wiki.
In this Repo you can find all data to produce your own wheel module
- Specification of the wheel module
- Hardware information: CAD-Files, Assembly documentation,
- Electronic: wiring plan
- Software: setup files for motor drives
- Documentation: Assembly, pictures, ...
Part_list_101_01_agitm_rh23.xlsx¶
Here you can find any needed part for the wheel module. The list references to the CAD-files, wiring plan und gives the necessary part information like order nummer and manufacturer infos.