micromotor - FAULHABER - DC Motors & Micro Drive Systems
This keeps the virtual centre of rotation of the four-wheeled intermediate chassis at an optimum point between the wheel axles. The chassis itself, on the other hand,
is positioned high above the wheel axle.
In micromotor micromotor - FAULHABER - DC Motors & Micro Drive Systems order to gain optimum advantage from the resultant ground clearance, even in surmounting obstacles, the FAULHABER GROUP - FAULHABER Group Brushless Motors and DC Motors vehicle has also been
provided with a front and rear wheel. Special lever kinematics are also employed to ensure that the front
wheel is always micromotor optimally guided on the traction surface, while
the rear wheel is fixed to the
main body of the vehicle via an outrigger arm.
In purely mechanical terms, the special design of the vehicle, with a front and rear
wheel and 2x2 side wheels, means that the ground contact of all the micromotor wheels is optimised, so that active control is not necessary. Due to the swivelling capability of the front and rear wheels, the turning circle of the Shrimp is also very micromotor small, in the range of the vehicle length. Despite this manoeuvrability, however, the Shrimp still exploits the main advantage offered micromotor by wheeled vehicles: the drive friction is extremely low, so that virtually all the output drive power is available for propulsion. There is therefore no problem in using energy-saving drives micromotor with a back-up battery system.
One vehicle for all conditions, whether
irregular terrain, steps or slopes
Drive solution
Designed as a universal vehicle, it was important for the Shrimp to have a drive system capable of dealing with every possible application. The system chosen was a motor concept from the FAULHABER product range. The company's motor and transmission range is structured in such a way that constructors can virtually select components to put together their own modular drive systems. For the Shrimp, the constructors used the 2224...SR series DC micromotors with precious-metal commutation. The ironless bell-armature motors are available in different voltage variants. They deliver 4.2 W and can be started with even the lowest voltages – an extremely important feature for planetary exploration trips relying on a solar cell power supply or battery operation with voltages that drop at lower temperature.
Yet another advantage of the chosen motor design is the integral magnetic pulse generator. Depending on the model, 64 to 512 pulses are generated for each revolution, and evaluated by the motor control unit. Gears are then needed to match the torque characteristic to the wheel geometry. The motors are combined with planetary gears which, with reduction ratios of 3.71:1 to 1526:1 and a torque of 0.5 Nm, provide a large bandwidth for optimum drive adaptation.
Since each wheel reports its drive data to the control system via its own phase sequence indicator, the entire drive of the vehicle can always be regulated optimally according to the traction and slip data from the individual wheels. An electronic differential lock is just as feasible as assistance for turning on the spot. Since all the drive components are from a standard range, the price advantage over
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