[Research and Development Transport Robot / AGV] Four-wheel independent steering drive type. Achieves a transportable weight of approximately 120 kg while maintaining high quietness and controllability.
This product, equipped with a four-wheel independent steering mechanism, stands out in our lineup of ROS-compatible research and development mobile robots, represented by the "Megalover Ver.3.0," particularly for its excellent quietness and controllability. It achieves a balance between "silent operation that does not interfere with voice recognition" and "high positioning accuracy, which is fundamental for automatic control," both of which are increasingly demanded in the fields of transport robots and communication robots today. It is suitable for research and development applications of advanced service robots and transport robots in special environments. In this product, the excellent basic performance of the 4WDS rover is maintained while increasing the payload capacity to approximately 120 kg, providing ample load-bearing performance even when equipped with various measuring instruments and computing devices. 【Features】 ■ Achieves a payload capacity of approximately 120 kg while enabling quiet and precise operation ■ Independent steering for all drive wheels (4WDS structure) ■ Control possible via wired/wireless connection ■ Complex control can be easily implemented ■ Programmable with Arduino IDE ■ Adopts 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: W519×D476×H235 (mm) *Vehicle height may vary due to suspension ■Weight: Approximately 43.6kg ■Maximum Speed (measured value): 1.6m/s ■Load Capacity: 120kg ■Material: Aluminum ■Battery: 24V sealed lead battery 288Wh ■Drive System: Four-wheel drive, independent steering ■Wheel Diameter: 170mm ■Motor: BLDC motor 40W×4, 105W×4 ■Control Board: VS-WRC058c ■ROS Compatibility: Compatible with ROS1 ■SDK: Arduino library for VS-WRC058, ROS package ■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), Bluetooth (Bluetooth Classic, BLE 4.2)
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While maintaining the high quietness and control similar to the already released "4WDS Rover X40A," we have enhanced the frame structure and equipped it with a large motor, achieving a portable weight capacity of approximately 120 kg. 【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) - 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 (without PC) - Remote Control Option (with PC) - Pan-Tilt Device Option (without camera) - Pan-Tilt Device Option (with camera) - Robot Arm AMIR 740 【Use Cases】 Research and development robots, transport robots, two-wheel drive robots, autonomous driving robots, delivery robots, AGVs, and more. *For more details, please feel free to contact us.
Detailed information
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The 4WDS Rover X120A is a research and development cart robot equipped with independent steering mechanisms for each of its four wheels, enabling movement in all directions while still functioning as a conventional wheeled vehicle. It features a four-wheel independent steering mechanism (4WDS structure) and achieves a maximum payload of approximately 120 kg, the highest in its series. Despite its large size, it boasts a measured operational performance of 1.6 m/s and stable operation due to its four-wheel independent suspension, providing high practicality and stability. Our company's series of research and development cart robots are designed specifically for research and development purposes, making them suitable for a wide variety of research applications, and we often receive requests to equip these cart robots with measuring instruments and computing devices. In this product, even with research and development equipment mounted on the cart robot, there is still ample payload capacity, making it suitable for research purposes aimed at specific applications such as transportation and logistics.
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In particular, the model that achieves a portable weight of approximately 120 kg while having a 4WDS structure is our company's first development and release in this series. Together with the "Megalover F120A" and "Mecanum Rover G120A," the lineup of ultra-large models for research and development cart robots has been further enhanced. Among the various series with different wheel configurations, this product excels particularly in quietness and the accuracy of steering operations. Combined with the flexible customization capabilities of the aluminum frame, it supports the execution of unprecedented research and development projects. *This product is not designed for passenger use. Additionally, due to its large size, please exercise sufficient caution during development and operation.
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The 4WDS Rover X120A 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 ultra-tight turns (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 such as 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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The 4WDS Rover X120A 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 move forward and backward and rotate using an analog stick, making it usable for manual operation for testing purposes and as a means of control in emergencies.
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To achieve precise movement with a four-wheel independent steering mechanism, it is necessary to appropriately 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 movement speed and turning speed to freely operate the product. This not only shortens the development period for solutions utilizing the movement mechanism but also allows for a focus on enhancing the value of the deliverables.
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The control board "VS-WRC058c" 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 with Arduino IDE version 1.8.13 or higher is required.*
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The 4WDS Rover X120A supports ROS (ROS1) message communication, allowing for ROS1 message communication using the rosserial package by connecting to a device 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 retrieve 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 of libraries not included with this product may be required). Furthermore, the 4WDS Rover X120A comes standard with an emergency stop switch, which is fixed to a frame that extends from the main body, allowing for smooth operation of the switch during use.
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Hardware Configuration * The VS-WRC058c does not have the capability to communicate with multiple hosts simultaneously. * The LRF (LiDAR) and depth camera can also be connected to the Raspberry Pi 4.
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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.