ROS-compatible large cart robot Mecanum Rover G120A

basic information

【Product Specifications】 ■Size: 446(W) × 603(D) × 203(H) mm ■Weight: Approximately 48.8 kg ■Maximum Speed (measured value): 1.6 m/s ■Load Capacity: Approximately 120 kg ■Material: Aluminum ■Battery: 24V Sealed Lead Battery 624Wh ■Drive System: Four-wheel drive with mecanum wheels and independent suspension ■Wheel Diameter: 203 mm ■Motor: BLDC Motor 105W × 4 ■Rotation Detection: Encoder ■Control Board: VS-WRC058 ■ROS Compatibility: Compatible with 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) SLAM (cartographer) Navigation ■Interface: USB Serial, Wi-Fi (IEEE802.11b/11g/11n), Bluetooth (Bluetooth Classic, BLE 4.2)

Price information

Please contact us.

Delivery Time

Applications/Examples of results

This product has been designed and developed with the aim of creating a truly usable cart robot that goes beyond mere catalog specifications, suitable for serious practical applications such as full-scale demonstration experiments. 【Options List for ROS-Compatible Transport Robots】 By requesting at the time of order, we will ship the product 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 - Robot Arm AMIR 740 (with VS-C3) - Wired Remote Control Option 【Use Cases】 Robot arms, research and development robots, transport robots, autonomous driving robots, conveying robots, AGVs, etc. *For more details, please feel free to contact us.

Detailed information

• 

  The Mecanum Rover G120A achieves the highest payload capacity in its series by equipping large wheels and motors. It demonstrates a transport capability that can comfortably handle the increasingly complex and multipurpose research and development applications. *This product is not designed for passenger use. Additionally, due to its large size, please exercise sufficient caution during development and operation.*

• 

  Recently, autonomous control cart robots are often required to collaborate with voice recognition devices and consider their surrounding environment, and it is essential for the cart robots themselves to operate quietly. In this product, by adopting a direct drive motor for wheel propulsion, we have significantly reduced operational noise compared to previous models.

• 

  The Mecanum Rover G120A is an ultra-large vehicle that is capable of moving in all directions thanks to its mecanum wheels. It achieves a maximum speed of 1.6 m/s as measured, making it suitable for various research and development applications. By precisely controlling all four wheels, it can turn in place and move sideways without changing the orientation of the vehicle, making it particularly suitable for applications that require accurate external position control. Each drive wheel is equipped with an encoder, allowing for precise movement using speed feedback, and it also features independent suspension for all four wheels to ensure that each wheel maintains contact with the ground.

• 

  This product comes standard with an "emergency stop switch." Additionally, the installation position of the emergency stop switch can be changed by utilizing pre-prepared mounting holes. It is assumed that users will swap and use it according to the actual operating conditions and the installation status of any additional expansion devices.

• 

  The control board "VS-WRC058" mounted on the Mecanum Rover G120A 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 included gamepad-style wireless controller "VS-C3" allows for wireless operation of the main unit without needing to connect to a PC. The analog stick can be used to move and rotate in all directions, making it suitable for manual operation for functionality checks or as an emergency control method. The control board "VS-WRC058" included in this product is equipped with 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 where Arduino IDE 1.8.13 or higher operates is required.*

• 

  The Mecanum Rover G120A supports ROS 1 and ROS 2 message communication, allowing for ROS 1 message communication using the rosserial package by connecting to a device running ROS via Wi-Fi or 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 those mentioned above. Furthermore, we plan to provide a model for the 3D simulator "Gazebo" for this product (depending on the desired functionality, additional development not included in the sample may be required). Please note that a separate device to run ROS needs to be prepared. The recommended operating environment for the devices we suggest is as follows (additional setup of libraries not included with this product may be required).

• 

  The Mecanum Rover G120A supports a wide range 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 large research and development cart robots in various research and development fields.

• 

  Structure diagram

• 

  Outline dimension drawing