Locomotion

Summary

The robot locomotion consists of three omni-wheel that are attached to stepper motors.

Motor control

• SainSmart CNC TB6560 3 Axis Stepper Motor Driver Controller Board

More info:

• http://reprap.org/wiki/4_Axis_TB6560_CNC_Stepper_Motor_Driver_Board_Controller

Stepper motors

• 3 x Unipolar/Bipolar, 200 Steps/Rev, 42×48mm, 4V, 1.2 A/Phase

Gear

• 1 x Aluminiumplatte rund Radius 150mm
• 6 x Aluminiumplatte 50mm 70mm 2mm
• 12 x PB Fastener 10er-Set Abstandsbolzen 20mm Stahl, verzinkt M3
• 3 x Stahl-Zahnrad Modul 1 12mm 10
• 3 x Stahl-Zahnrad Modul 1 32mm 30
• 6 x Modelcraft Radial-Chromstahl-Kugellager 19mm 6mm 6mm
• 1 x Silberstahl-Welle 500 mm 6 mm
• 3 x Messing-Rohr-Profil 8mm 6mm 500mm
• 1 x LOCTITE® 603 Fügeprodukt 142441 10ml

Wheels

• 3 x 60mm Soft Omniwheels