FroboMind Robot:FroboMower:Specifications
The original platform
FroboMower is based on the mechanical platform from a small robotic lawn mower named GrassBoss.
Propulsion
Drivetrain specifications
Z2D15-24GN DC motor from www.zd-motors.com
- Output: 15W
- Voltage: 24V
- Current: 1.0A
- PEED: 1300 RPM
Gearhead mounted on the motor: 2GN 40K from www.zd-motors.com
External drivetrain:
- Pulley on motor shaft has 16 teeths
- Pulley on wheel shaft has 16 teeths
Speed measurements
Motor speed is 43 RPM = 0.72 1/s @ 24V with no load on the motor shaft (wheel disconnected).
Wheel diameter is 22.3 cm excluding the nobs and 23.7 cm including the nobs.
Wheel circumference (excluding nobs): 0.223 m * 3.14 = 0.70m
Maximum wheel speed: 0.70 m * 0.72 1/s = 0.50 m/s
Current measurements
When running without any load on the wheel the motor current was 0.3 to 0.35A (25.25V power supply).
The maximum peak stall current observed was 1.6A
Cutters
Specifications
The robot has three vertical mounted cutter motors each having a 11 cm cutter blade mounted on the shaft. The total cutting width is 32 cm and the line between the leftmost and rightmost cutter motor is 6 cm behind the traction wheel shafts. The middle cutter motor is only 2 cm behind the traction wheel shafts.
Current measurements
The 3 motors are connected in parallel, and the total current for all motors is 1.1A @24V with no resistance on the cutter blades. Initial current was not measured exactly due to a current limiter on the supply, but is higher than 2.0A
