[Research and Development Transport Robot / AGV] Four-wheel independent steering drive type. Achieves quiet operation with direct drive motors.
The "4WDS Rover X40A" is a research and development cart robot equipped with independent steering axes for each of its four wheels, enabling movement in all directions while using standard wheels. Among our lineup of ROS-compatible research and development cart robots, represented by the "Mega Rover Ver. 3.0," it stands out for its exceptional quietness and controllability, making it suitable for advanced service robots and transport robots in specialized environments, particularly for applications requiring "the utmost reduction in operational noise while achieving high positioning accuracy." 【Features】 ■ Independent steering for all drive wheels (4WDS structure) ■ Direct drive motors adopted for further noise reduction ■ Complex control can be easily implemented ■ Achieves a payload capacity of approximately 40kg ■ Control via wired/wireless connection is possible ■ Programmable using Arduino IDE ■ Utilizes an easily expandable aluminum frame ■ Compatible with control via ROS1 ■ Standard emergency stop switch included ■ Supports a variety of optional accessories
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basic information
【Product Specifications】 ■Size: W430×D430×H194 (mm) *Vehicle height may vary due to suspension ■Weight: Approximately 28.4kg ■Maximum Speed (measured): 1.6m/s ■Load Capacity: 40kg ■Material: Aluminum ■Battery: 24V sealed lead battery 288Wh ■Drive System: Four-wheel drive, independent steering ■Wheel Diameter: 140mm ■Motor: BLDC motor 40W×8 ■Control Board: VS-WRC058 ■ROS Compatibility: Supports ROS 1 and ROS 2 ■SDK: Arduino library and ROS package for VS-WRC058 ■Included Samples: - Arduino Library Wheel control Various communication functions, etc. - Sample Code for ROS Control from gamepad Control from mouse (touchpad) SLAM (gmapping) Navigation Other sample programs for various options ■Interface: USB serial, Wi-Fi (IEEE802.11b/11g/11n) ■Accessories: Charger, wireless controller for robot
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Compared to the conventional model "4WDS Rover Ver2.1," the operating noise has been further reduced, and the movement speed has improved. At the same time, the portable weight remains approximately 40 kg, achieving sufficient load-bearing performance necessary for research and development cart robots. 【Purchase Options for ROS-Compatible Transport Robot】 By requesting at the time of order, we will ship the robot with various options installed. - LRF Option (TG30) - 3D LiDAR Option - Bumper Option - Power Supply Board Option for Expansion Devices - Installation of Raspberry Pi 4B 4GB Version - Wireless Charging Option - ROS PC Option - Camera Mount Option - Depth Camera Option - Remote Control Option (with/without PC) - Pan-Tilt Device Option (with/without camera) - Robot Arm AMIR 740 - Wired Remote Control Option 【Use Cases】 Research and development robots, transport robots, two-wheel drive robots, autonomous driving robots, conveying robots, AGVs, etc. *For more details, please feel free to contact us.
Detailed information
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The 4WDS Rover X40A is equipped with a steering mechanism that can independently control all four drive wheels. By appropriately controlling the angle and rotation speed of each drive wheel, it allows for movement in the forward, backward, and sideways directions without changing the orientation of the robot, as well as enabling a zero-radius turn (turning in place) without skidding the wheels. Additionally, each wheel is equipped with a suspension mechanism, ensuring that all four wheels maintain proper contact with the ground, which enhances straight-line stability and control accuracy. Compared to other omnidirectional wheels like omni-wheels and mecanum wheels, the simplicity of the wheel structure makes it resistant to dirt and dust. *This product is intended for indoor use only and is not designed for outdoor use.*
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Recently, autonomous control cart robots often require human interaction, such as voice recognition and speech output, in their applications, and there is a strong demand for the cart robots themselves to operate quietly. This product reduces operational noise even further than the previous model, the "4WDS Rover Ver2.1," by adopting a direct drive motor for wheel propulsion. Combined with the advantages of the conventional 4WDS structure using wheels, it achieves an ideal silent cart. To achieve precise movement with the four-wheel independent steering mechanism, it is necessary to properly control the angle and speed of each wheel. This product comes with a pre-installed control system for the four-wheel independent steering mechanism, allowing users to simply specify the translational speed and turning speed to freely operate the product. This not only shortens the development period for solutions utilizing the mobility mechanism but also allows for a focus on enhancing the value of the deliverables.
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The 4WDS Rover X40A achieves further noise reduction compared to previous models while maintaining a portable weight of approximately 40kg. It can comfortably accommodate various sensors and devices, enhancing the flexibility of research and development projects. *This product is not designed for passenger use.*
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The 4WDS Rover X40A supports wireless communication via Wi-Fi and wired USB serial communication. By using specified commands, it can be controlled from various devices such as PCs and tablets. Additionally, the wireless controller for robots, "VS-C3," is included as standard, allowing the unit to be operated wirelessly without connecting to a PC. It can also move forward and backward and rotate using an analog stick, making it usable for manual control for operation verification and as a means of operation in emergencies.
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The control board "VS-WRC058" equipped in this product features the ESP32-WROOM-32 microcontroller, allowing users to create control programs using the Arduino IDE. Sample code is provided with the product in the form of an Arduino library, enabling users to customize the firmware themselves. *Note: When programming the VS-WRC058 using the Arduino IDE, an environment that runs Arduino IDE version 1.8.13 or higher is required.
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The 4WDS Rover X40A supports ROS (ROS1) message communication, allowing for ROS1 message communication using the rosserial package by connecting to devices running ROS via Wi-Fi or a USB cable. With the standard firmware, it is possible to send movement speed command values to this product from ROS using the geometry_msgs/Twist type, as well as to obtain the current speed and battery voltage from this product. Additionally, by modifying the firmware, users can send and receive arbitrary messages beyond the aforementioned ones. Please note that you will need to prepare a separate device to run ROS. The recommended operating environment for the devices we suggest is as follows (additional setup for libraries not included with this product may be required).
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This product comes standard with an "emergency stop switch," which was previously an optional accessory in conventional models. Additionally, whether the side with the emergency stop switch is designated as the "front" or "back" of the cart robot can be switched by changing the wiring or programming. It is assumed that users will interchange it according to the actual operating conditions and the installation of additional expansion devices.
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The 4WDS Rover X40A is compatible with a variety of optional components. It is possible to add sensors and configuration parts according to the application, allowing for the full utilization of the capabilities of a large research and development cart robot in various research and development fields.
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Hardware configuration
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Company information
Vstone Co., Ltd. is a manufacturer that develops and produces communication robots, bipedal robots, research and development robots, and robot sensors. In addition to launching the world's first home-use bipedal robot kit "Robi M," the company has achieved five consecutive victories at the RoboCup World Championship, demonstrating its solid technological capabilities. In recent years, Vstone has also developed comprehensive technologies for building not only the hardware of communication robots but also software and cloud infrastructure, continuously releasing various products aimed at realizing a society where humans and robots coexist.
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