Grover 95

built by Matt Grob

*
Target Environment Locomotion Method
Outdoors, all terrain 6 Wheels
Sensors / Input Devices Actuators / Output Devices
PC-17 color video camera 6 drive motors
R/C Servos
Control Method Power Source
Radio/Control Battery
CPU Type Operating System
PIC Microcontroller None
Programming Lanuage Weight
Assembly 30 lbs
Time to build Cost to build
N/A N/A
URL for more information
N/A
Comments
* Custom chassis made from aliminum window stock
* 6wheel drive, 4 wheel steering
* ATV video return link
* PC-17 color video camera, with futuba servos for pan and tilt
* On board V25 CPU board
* PIC Microcontroller used for servo control.
* 1/4scale servos used for steering.

Grover 95 has excellent mobility. It can climb over just about any reasonable obstacle, including objects larger than a wheel diameter. Still, the design is not without its problems. The mechanism requires no fewer than 10 motors to control (6 drive motors, and 4 steering servos). To make proper turn requires the on board computer to calculate various angles and speeds, and then in turn a motor control system has to be able to produce those speeds. This introduces a great deal of complexity. The steering servos were 1/4scale servos geared down 2:1. This gave over 300oz-in of steering torque, however that wasn't enough as in some cases the mechanism will stall. The entire rover weighs in at around 30lbs and it is believed that around 600oz-in are required for steering to work reliably over rough terrain.

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