5. Design and function
64
© Festo Didactic GmbH & Co. KG •
544305
Robotino
®
is driven by 3 independent, omnidirectional drive units. They are mounted
at an angle of 120° to each other.
Each of the 3 drive units consists of the following components:
•
DC motor
•
Gear unit with a gear ratio of 16:1
•
All-way roller
•
Toothed belt
•
Incremental encoder
1
2
3
4
5
Motor (1)
incremental encoder (2)
all-way roller (3)
gear unit (4)
toothed belt (5)
All of the individual components are attached to the mounting flange at the rear.
Together with the flange at the front, the drive unit is secured to the chassis with
screws. Correct positioning of the drive units in relationship to each other is thus
assured.
5.3
The drive unit module
