SHOWALL HIGH VOLTAGE ROBOTICS
Figure 4 - A large caster wheel that matches the two front drive wheels
Figure 4 - A large caster wheel that matches the two front drive wheels

I like my all terrain robots to have front wheel drive and differential steering as I have found this configuration to be best for traversing hostile terrain, as well as offering the most agile control of the steering. Oberon had two front drive wheels and a set of rear casters on an articulated arm, but I wanted Goober to be as compact as possible, so I opted for a single rear caster wheel. I actually found a large caster wheel that was once on an electric scooter, and it had the same type of 8 inch pneumatic tire, so it would be perfect for this project. Having only a single rear caster meant that the cover could be made smaller as well.



Figure 5 - Laying out the main components to get ideas for the frame
Figure 5 - Laying out the main components to get ideas for the frame

To make Goober as compact and stable as possible, the two large batteries are placed right behind the drive motors, and the rear caster wheel will sit behind the battery pack with only enough clearance so that it can make a complete revolution without rubbing against the frame or battery bank. This tripod configuration is very stable because the main weight (battery bank) will be placed in the center and as low as possible, making a rollover almost impossible. Because the wheels are directly attached to the motors, no transmission system is necessary, making the footprint very compact.

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