Monday, 5 September 2011

The Omni Base

Omni Base construction
The base is powered by 4 12 volt gear motors and a 2:1 reduction belt drive to 150mm wheels
steering is done via #25H chain and 2 12 volt gear motors the left and right steering is linked as 1 with a 4:1 reduction. Absolute position encoders are located on the right steering wheels. Each drive wheel has its own incremental encoder.