This part is a basic introduction to the RANGER MINI 2.0, mobile robot chassis. After reading this part, users and developers can have an overall understanding about it. As shown in Figure 2.1 below, it is an overview of the RANGER MINI 2.0.
The RANGER MINI 2.0 is based on a modular and intelligent design concept. It adopts a composite design of solid tires and swing arms on the power module, and has a powerful hub motor, which makes the RANGER MINI 2.0 swift passing ability and ground adaptability. It can move flexibly on different ground. The hub motor does not require complicated transmission design, making the RANGER MINI 2.0 smaller and more flexible. An open electrical interface and communication interface are configured at the rear of the RANGER MINI 2.0, which is convenient for users to carry out secondary development. The electrical interface adopts aviation waterproof connectors, which is not only conducive to the expansion and use, but also allows the RANGER MINI 2.0 to be used in some harsh environments. A standard aluminum extension bracket is installed on the RANGER MINI 2.0, which is convenient for users to carry external equipment.
The user can check the status of the RANGER MINI 2.0 through its CAN message. Please refer to Table 2.1 for specific status.
Figure 2.2 Back View of the RANGER MINI 2.0
The RANGER MINI 2.0 has a circular connector for expansion at its rear. The interface can be used to provide power for external equipment (the load current cannot exceed 15 A, and the voltage range is 46~50 V) and transfer information through its CAN communication interface. Its pins are defined in the figure below. Please note that its power supply is subject to internal control. When the battery voltage is lower than the safe level, it will actively cut off the power supply. Therefore, users need to pay attention to the low voltage alarm of the RANGER MINI 2.0 before reaching the critical voltage. Do not forget to charge the RANGER MINI 2.0 after use.
Figure 2.4 Introduction of the remote control
As shown in the figure above, the functions of the buttons are defined as follows: SWB is the control mode selection lever, dialed to the top is the command control mode, dialed to the middle or down is the remote control mode; SWA is the light control switch, dialed to the bottom is to turn off the light (need SWB first enters the remote control mode); SWC is the ultrasonic obstacle avoidance enable switch (this version does not support it), and when it is turned to the middle, the ultrasonic obstacle avoidance function is turned on; when SWC is turned to the bottom, it is the parking mode, and the four-wheel four-steering is X-shaped at this time Locking.
<aside> 💡 (especially note that when the RANGER MINI is turned off in X-shaped parking, it needs to start the switch button twice to turn it on again);
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SWD is the switch for Motion mode:
Moving SWD to the top is ① front and rear Ackerman mode (the left joystick controls the speed, and the right joystick controls the steering angle) + ② spin mode (the left joystick does not move, the right joystick controls the spin direction)
Moving SWD to the bottom is the oblique motion mode: the left joystick controls the speed, and the right joystick controls the steering angle (the maximum angle is 90°, which makes the RANGER MINI 2.0MINI 2.0MINI 2.0move laterally);