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Panther WH03 - wheel swap

Overview#

Panther platform can be configured with option WH03 ( read more about available options (soon) ), which enables quick swap between off-road and mecanum wheels. Follow instruction below to learn how to do it.

Warning! Not following steps below may cause mechanical damage to Panther, which will not be covered by warranty.

Change from standard off-road wheel to mecanum wheel#

Mechanical#

  1. Remove 5x DIN 912 M6x12 bolts (5mm allen key) holding wheel assembly. Slide wheel assembly of the shaft.
  1. Unscrew M8 set screw and loosen 2x DIN 912 M6x20 bolts of the wheel hub.
  1. Slide wheel hub from the shaft.
  2. Install outer 5x5x25mm parallel key to the shaft. It might be necessary to lightly tap it into position with hammer.
  1. Remove 2x M8 set screw (4mm allen key) and 2x M4 set screw (2mm allen key) from mecanum wheel. They are located on hub of mecanum wheel.
  1. Slide mecanum wheel onto the shaft. Exterior of mecanum wheel should be flush with end of the shaft. Correct orientation of each mecanum wheel is shown below.
  1. Install and tighten 2x M8 set screw with 5Nm torque. Slight misalignment of the mecanum wheel will be eliminated.
  2. Install and tighten 2x M4 set screw with 2Nm of torque.
  3. Repeat above steps for all axels.

Software#

  1. Power on Panther.
  2. Connect to Panther network.
  3. Login via SSH into internal computer. Open terminal and execute ssh husarion@10.15.20.2 with password husarion
  4. Open launch file for panther_driver: nano husarion_ws/src/panther_driver/launch/driver.launch
  5. Change default value of an argument wheel (line 6) from offroad to mecanum
  6. Save and exit by pressing CTRL + X then Y
  7. Restart Raspberry to apply changes by command reboot

Change from mecanum wheel to standard off-road wheel#

Mechanical#

  1. Unscrew 2x M8 set screw (4mm allen key) and 2x M4 set screw (2mm allen key) from mecanum wheel. They are located on hub of mecanum wheel.
  1. Slide mecanum wheel of the shaft.
  2. Remove outer 5x5x25mm parallel key from the shaft. Use of pliers might be required.
  1. Take wheel hub and loosen 2x DIN 912 M6x20 bolts (5mm allen key) and remove M8 set screw.
  1. Slide wheel hub on the shaft aligning it with parallel key as far as it will go, as shown on the cross-section below.
  1. Hand tighten 2x DIN 912 M6x20 bolts keeping equal spacing between clamp and main hub body on both sides.
  2. Install and hand tighten M8 set-screw.
  3. Tighten 2x DIN 912 M6x20 using 8Nm.
  4. Tighten M8 set-screw using 5Nm.
  5. Slide wheel assembly (with tire valve facing outwards and wheel threads facing forward) and secure it by 5x DIN 912 M6x12 bolts. Torque it to 6Nm.
  1. Repeat above steps for all axels.

Software#

  1. Power on Panther.
  2. Connect to Panther network.
  3. Login via SSH into internal computer. Open terminal and execute ssh husarion@10.15.20.2 with password husarion
  4. Open launch file for panther_driver: nano husarion_ws/src/panther_driver/launch/driver.launch
  5. Change default value of an argument wheel (line 6) from mecanum to offroad
  6. Save and exit by pressing CTRL + X then Y
  7. Restart Raspberry to apply changes by command reboot