4-Wheel Independent ROS-Compatible Cart Robot 4WDS Rover X120A

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 ROS 1 and ROS 2 ■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)

Price information

Please contact us.

Delivery Time

Applications/Examples of results

While maintaining the high quietness and controllability 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 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) - 3D LiDAR Option - Bumper Option - Power Supply Board Option for Expansion Devices - Raspberry Pi 4B 4GB Version Installation - Wireless Charging Option - ROS PC Option - Camera Bracket 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】 Research and development robots, transport robots, two-wheel drive robots, autonomous driving robots, delivery robots, AGVs, etc. *For more details, please feel free to contact us.

Detailed information

• 

  The 4WDS Rover X120A is a research and development cart robot equipped with an independent steering mechanism for each of its four wheels, enabling movement in all directions while maintaining the characteristics of a conventional wheel. It features a four-wheel independent steering mechanism (4WDS structure) and achieves a maximum load capacity 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 research and development cart robot series is specifically designed for research and development purposes, and as such, it is used for a wide variety of research applications. We frequently receive requests to mount measuring instruments and computing devices on the cart robot. In this product, even with research and development equipment mounted on the cart robot, there is still ample load capacity, making it suitable for research purposes aimed at specific applications such as transportation and logistics.

• 

  In particular, the model that achieves a portable weight of approximately 120 kg while having a 4WDS structure is the first development and release in our series. Together with the "Megalover F120A" and "Mecanum Rover G120A," the lineup of ultra-large models for research and development cart robots has become even more robust. 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.

• 

  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 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 simple structure of the wheels themselves is also a feature that makes them resistant to dirt and dust. *This product is intended for indoor use only. Outdoor use is not anticipated.

• 

  The 4WDS Rover X120A supports wireless communication via Wi-Fi and wired USB serial communication. By using designated 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 main unit to be operated wirelessly without connecting to a PC or other devices. 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.

• 

  To achieve precise movement with a 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 movement speed and turning speed to freely operate the product. This can shorten the development period for solutions utilizing the movement mechanism and allow for a focus on enhancing the value of the deliverables.

• 

  The control board "VS-WRC058c" included in this product is equipped with the ESP32-WROOM-32 microcontroller, allowing users to create control programs using the Arduino IDE. Sample code will be 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.*

• 

  The 4WDS Rover X120A supports ROS 1 and ROS 2 message communication, allowing for ROS 1 message communication using the rosserial package by connecting to devices 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 the aforementioned capabilities. 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). Furthermore, the 4WDS Rover X120A comes standard with an emergency stop switch, which is fixed to a frame extending from the main body, allowing for smooth operation of the switch during use.

• 

  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.

• 

  Dimension drawing