4WD Metal Robot Chassis Kit w/ Mecanum Wheels

This kit includes an aluminum chassis with four motors and mecanum wheels. The chassis provides enough space to add sensors like LiDAR or camera for computer vision, as well as a computer like Raspberry Pi or Nvidia Jetson or an Arduino MCU and batteries.

Mecanum wheels are very useful to increase the maneuverability of a robot. These wheels come with 45º rollers that move independently and allows the robot to move forward, backward, sideways, diagonally or spin in place. But please, don’t make the confusion with omnidirectional wheels. Mecanum wheels are different than omnidirectional wheels, but the result is almost the same. Depending on which wheels rotate in which direction, the robot will change the heading or spin in place.

The motors have attached encoders. Having encoders, you can add an IMU sensor and create a map of the room. This makes it easier to transform this chassis into an autonomous robot, that is able to navigate on smooth surfaces in an apartment, building or factory floor.

Mecanum wheels have some disadvantages compared with the “normal” wheels that we’re using for our cars or shopping carts. These wheels tend to wander side-to-side when the robot is trying to negotiate an inclined floor. Also, mecanum wheels are known for losing traction.

Motor Parameters:

• 12V 300 RPM Encoder Gear Motor
• No-Load Current: 220mA
• Load Torque: 0.6 Kgcm, 
• Load Current: 500 mA
• Power: 1.6W
• Stall Torque: 2Kgcm at 2A current
• Shaft Diameter: 4mm
• No. of Pulses per rotation: 300
• No. of single phase pulses per rotation: 150

Encoder Wiring:

• Green Wire - S2: Hall Sensor Phase 2
• Orange Wire - S1: Hall Sensor Phase 1
• Yellow Wire - Ground (GND)
• White Wire - V (voltage for hall sensor 3.3V to 5V)
• Red Wire - Motor Power: M-
• Black Wire - Motor Power: M+