![]() ![]() ![]() Develop a preliminary design of a vehicle to traverse the field to inspect each plant. Ackerman, Differential drive (Skid steer). You may assume any drive configuration of your choice, i.e. Assume the motor is approximately 1.5” in diameter and 3” long. ![]() The design must account for a grade of 5% (2.86 degrees).Īttached to each motor is an incremental encoder that provide quadrature and index data and with a CPR of 128. The overall weight of the vehicle is ~40lbs and the motors are geared using a 25:1 gear ratio between the motor and vehicle with a drive efficiency of 70%. The vehicle platform is such that for example a 4 wheeled vehicle wheels are defined as W LeftFoward, W LeftRear, W RightFoward, and W RightRear, are the drive wheels and the batteries (primary center of mass) are located at the center of the vehicle. The wheels used will be 8” in diameter and 3” in width. Each battery has an AHr rating that can supply at most 20A-hour at the rated voltage. You have a 4 wheel differential drive system, you also have 4 batteries of 6V each to configure as desired. ![]()
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