Grover 95 by Matt Grob


Grover 95
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	* 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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