Ardumower Chassis 'mountain mod': Unterschied zwischen den Versionen

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=Abstract=
 
=Abstract=
This page describes how to modify the Ardumower Chassis to run up higher slopes with it (up to 45 degree). This works by  
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[[File: Ardumower_reverse_bumperduino.jpg | 400px]]
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[[File: Mountains.jpg | 600px]]
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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  
 
#turning the front drive into a rear drive and so requires to reverse the drive direction (so front is back and back is front)
 
#turning the front drive into a rear drive and so requires to reverse the drive direction (so front is back and back is front)
#modifying the tire profile
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#optional: modifying the tire profile (give it more grip)
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##Modify tire profile OR
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##Off-road version (sand etc.): A bicycle tube or U-form rubber is added around the tire
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<gallery>
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File: Ardumower_slope.png | difference front/rear wheel
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File: Ardumower_environment_slope.jpg | environment with slope
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File: ardumower_safari.jpeg | Ardumower going on a Safari
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File: Ardumower_reverse_electronics.jpg | Ardumower electronics
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File: Ardumower_reverse_bumperduino.jpg | Ardumower BumperDuino
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File: Mower_rear_docking.jpg.JPEG | rear docking
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File: Ardumower_250mm_rubber_tires.JPEG | 250mm rubber tires
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</gallery>
  
 
=Needed parts=
 
=Needed parts=
 
*cup
 
*cup
*acrylic glas sheet
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*acrylic glas sheet (1mm)
*rubber band
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*rubber band (U-form)
  
 
=Turning front drive into rear drive=
 
=Turning front drive into rear drive=
* swap motor cables (right and left)
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# on Ardumower PCB, swap right motor cables with left motor cables (so left motor is right motor and vice versa)
* swap odometry cables (right and left)
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# on Ardumower PCB, swap polarity of each motor by swapping motor (+/-) pins (so turning forward is turning backward) NOTE: for brushless motors, swap two arbitrary phases (U,V,W) to swap motor polarity
* swap battery charging pin cables (right and left)
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# on Ardumower PCB, swap odometry cables (so left odometry is right odometry and vice versa)
* disable ultrasonic sensor
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# mount battery charging pin at chassis handle side
* move perimeter coil from old front to old back side
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# disable ultrasonic sensor
 
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# move perimeter coil from old front to old back side (if using perimeter sensor)
=Pictures=
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# use [https://wiki.ardumower.de/index.php?title=Bumper_sensor BumperDuino] as bumper sensor
  
 
<gallery>
 
<gallery>
 
File: Ardumower_reverse.jpg | Step 1: reverse the direction (front and back), add cup
 
File: Ardumower_reverse.jpg | Step 1: reverse the direction (front and back), add cup
File: Ardumower_mountains3.jpg| Step 2: Add acrylic glass sheet
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File: Ardumower_rear_driven_experimental.jpg | Alternative: reverse the direction (front and back)
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File: Ardumower_mountains3.jpg| Step 2: Add acrylic glass sheet (1mm)
 
File: Ardumower_mountains5.jpg| Step 3: Add rubber band
 
File: Ardumower_mountains5.jpg| Step 3: Add rubber band
File: Ardumower_mountains2.jpg| Step 4: Modify charging station
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File: ardumower_reverse_docking.jpg| Step 4: Reverse docking contacts
File: Ardumower_mountain_tires.jpg| Step 5: Modify tire profile
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File: Ardumower_mountain_tires.jpg| Step 5a (optional): Modify tire profile
File: Ardumower_mountain_tires_profile.jpg
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File: Ardumower_tire_rubber.jpg | Step 5b (optional): 'Off-road' tire mod using rubber
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</gallery>
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=New rubber tires (optional)=
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For even higher traction, one can use [https://www.marotronics.de/Air-wheel-260-mm-eg-for-Ardumower-handcart-wheel-hand-cart-wheel-wheelbarrow-wheel pushcart tires from the shop]. Using a 3d printed adapter one can mount them onto the Ardumower clamping element. '''Assembly note: The trick here is to first insert the long screws into both printed adapters and through the tire, and then rotate the adapters until they fit onto the tires. '''
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[[File: Rad_adapter2.JPG | 300px]]
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[[File: Image_2022_03_25T08_07_16_090Z.png | 600px]]
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[[File: Universal_tire_adapter.png | 300px]]
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pushcart tires adapter
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version 1 (OpenSCAD):
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https://drive.google.com/open?id=1b2QyTGZAHqlq3FxoZMuL9yAjkAN27W_W
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version 2 (STL):
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https://drive.google.com/open?id=1Z5-RnOGF6VBqRKgV-_IFwwNccazjhj48
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https://www.marotronics.de/Luftrad-260-mm-zB-fuer-Ardumower-Sackkarrenrad-Bollerwagenrad-Schubkarrenrad
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https://forum.ardumower.de/threads/traktion.22179
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https://forum.ardumower.de/threads/3d-teile-und-zubeh%C3%B6r-f%C3%BCr-den-ardumower.22588/
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=Pictures=
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<gallery>
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File: Tires_rubber_u_form.jpg| Tire mod with U-form rubber
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File: Ardumower_mountains_side.jpg| Inside (prototype)
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File: Ardumower_mountain_tires_profile.jpg | modified tire profile
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File: Ardumower_mountains_inside.jpg | Inside (PCB)
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File: Ardumower_tire_mod_off_road1.jpg | 'Off-road' tire mod using bicycle tube
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File: Ardumower_electronics_box.jpg | Electronics box
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File: Bumperduino_example.jpg | BumperDuino
 
</gallery>
 
</gallery>
  
 
=Videos=
 
=Videos=
  
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#'''[https://www.youtube.com/watch?v=FsVMA81zLS8 Ardumower rear/front driven climbing difference]'''
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#[https://www.youtube.com/watch?v=-TdvEG2_eR0 Ardumower rear-driven, BumperDuino demo]
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#[https://www.youtube.com/watch?v=8eR1v6ihGV8 pushcart tires]
 
#[https://www.youtube.com/watch?v=Z8RBlNjtH9M&feature=youtu.be Demo]
 
#[https://www.youtube.com/watch?v=Z8RBlNjtH9M&feature=youtu.be Demo]
 
#[http://youtu.be/3-UoYhjYH2w Optimized tires]
 
#[http://youtu.be/3-UoYhjYH2w Optimized tires]
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#[https://www.youtube.com/watch?v=Pgj6wwDrps4 Bicycle tube tires for 'off-road']
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=Other ideas=
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<gallery>
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  File: Ardumower_rear_driven_0_99.jpg | rear driven (idea)
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  File: Ardumower_rear_driven_experimental.jpg | rear driven (experimental)
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</gallery>
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=Forum=
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#https://forum.ardumower.de/threads/larger-wheels-or-how-to-cut-taller-grass.23778/

Aktuelle Version vom 14. Mai 2022, 18:30 Uhr

Abstract

Ardumower reverse bumperduino.jpg Mountains.jpg

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

Needed parts

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

Turning front drive into rear drive

  1. on Ardumower PCB, swap right motor cables with left motor cables (so left motor is right motor and vice versa)
  2. on Ardumower PCB, swap polarity of each motor by swapping motor (+/-) pins (so turning forward is turning backward) NOTE: for brushless motors, swap two arbitrary phases (U,V,W) to swap motor polarity
  3. on Ardumower PCB, swap odometry cables (so left odometry is right odometry and vice versa)
  4. mount battery charging pin at chassis handle side
  5. disable ultrasonic sensor
  6. move perimeter coil from old front to old back side (if using perimeter sensor)
  7. use BumperDuino as bumper sensor

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. Assembly note: The trick here is to first insert the long screws into both printed adapters and through the tire, and then rotate the adapters until they fit onto the tires.

Rad adapter2.JPG Image 2022 03 25T08 07 16 090Z.png Universal tire adapter.png

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

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

Forum

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