Version vom 13. September 2021, 21:16 Uhr

Abstract

This page describes (as a 'hack') how to modify the Ardumower Chassis to run up higher slopes with it (tested up to 30 percent). This works by

1. turning the front drive into a rear drive and so requires to reverse the drive direction (so front is back and back is front)
2. optional: modifying the tire profile (give it more grip)
   1. Modify tire profile OR
   2. Off-road version (sand etc.): A bicycle tube or U-form rubber is added around the tire

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  difference front/rear wheel

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  environment with slope

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  Ardumower going on a Safari

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  Ardumower electronics

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  Ardumower BumperDuino

Needed parts

• cup
• acrylic glas sheet (1mm)
• rubber band (U-form)

Turning front drive into rear drive

1. swap motor cables (right and left)
2. swap odometry cables (right and left)
3. swap battery charging pin cables (right and left)
4. disable ultrasonic sensor
5. move perimeter coil from old front to old back side
6. use BumperDuino as bumper sensor

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  Step 1: reverse the direction (front and back), add cup

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  Alternative: reverse the direction (front and back)

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  Step 2: Add acrylic glass sheet (1mm)

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  Step 3: Add rubber band

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  Step 4: Reverse docking contacts

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  Step 5a (optional): Modify tire profile

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  Step 5b (optional): 'Off-road' tire mod using rubber

New rubber tires (optional)

For even higher traction, one can use pushcart tires from the shop. Using a 3d printed adapter one can mount them onto the Ardumower clamping element.

pushcart tires adapter

version 1 (OpenSCAD): https://drive.google.com/open?id=1b2QyTGZAHqlq3FxoZMuL9yAjkAN27W_W

version 2 (STL): https://drive.google.com/open?id=1Z5-RnOGF6VBqRKgV-_IFwwNccazjhj48

https://www.marotronics.de/Luftrad-260-mm-zB-fuer-Ardumower-Sackkarrenrad-Bollerwagenrad-Schubkarrenrad

https://forum.ardumower.de/threads/traktion.22179

https://forum.ardumower.de/threads/3d-teile-und-zubeh%C3%B6r-f%C3%BCr-den-ardumower.22588/

Pictures

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  Tire mod with U-form rubber

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  Inside (prototype)

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  modified tire profile

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  Inside (PCB)

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  'Off-road' tire mod using bicycle tube

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  Electronics box

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  BumperDuino

Videos

1. Ardumower rear/front driven climbing difference
2. Ardumower rear-driven, BumperDuino demo
3. pushcart tires
4. Demo
5. Optimized tires
6. Bicycle tube tires for 'off-road'

Other ideas

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  rear driven (idea)

• 

  rear driven (experimental)

Forum

1. https://forum.ardumower.de/threads/larger-wheels-or-how-to-cut-taller-grass.23778/