Inhaltsverzeichnis

1 Abstract
2 Needed parts
3 Turning front drive into rear drive
4 New rubber tires (optional)
5 Pictures
6 Videos
7 Other ideas
8 Forum

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

turning the front drive into a rear drive and so requires to reverse the drive direction (so front is back and back is front)
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

difference front/rear wheel
environment with slope
Ardumower going on a Safari
Ardumower electronics
Ardumower BumperDuino
rear docking
250mm rubber tires

Needed parts

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

Turning front drive into rear drive

on Ardumower PCB, swap right motor cables with left motor cables (so left motor is right motor and vice versa)
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
on Ardumower PCB, swap odometry cables (so left odometry is right odometry and vice versa)
mount battery charging pin at chassis handle side
disable ultrasonic sensor
move perimeter coil from old front to old back side (if using perimeter sensor)
use BumperDuino as bumper sensor

Step 1: reverse the direction (front and back), add cup
Alternative: reverse the direction (front and back)
Step 2: Add acrylic glass sheet (1mm)
Step 3: Add rubber band
Step 4: Reverse docking contacts
Step 5a (optional): Modify tire profile
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. 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.