Ackermann Drive

An alternative to the direct actuation of both sides is the sterring knuckle drive where each front wheel can turn at its own axis. (Invented 1816 from the German Lankensperger, patent from the English Rudolph Ackermann). Therefore, there is no need for a dirveshaft and gauge tie bar.

Our solution on the base of Volksbotelements consit of:

Two Maxon EPOS 24/1 Motorcontroller Two Maxon EPOS 24/5 Motorcontroller conected via CANopen Two high-value Harmonic Drives for the transformation of the drive torque (50:1) Two Maxon EC 90 flat EC-Motors with Hall-Sensors for the actuation of the wheels Two worm gear pairs for the control fo the pivoting moment (11:1) Two Maxon RE 29-max DC-Motors with encoder and epicyclic gear (86:1) for the turn of the wheels Connection to the control computer with RS232 suspension Small turning radius Indipendend control of the steering angle for the left and right wheel via software