Motor/Encoder Selection (We need more power Captain!)

Lynxmotion Rovers, Sumo, and Tracked
1

I am currently using a GHM-16 with digital encoders for a first generation rover (Lynxmotion Tri-Track). As I look to future generations of the rover, can anyone steer me to a stronger motor/encoder combination?

General Requirements:
Waterproof (or resistant) to go through puddles
Strong enough to drive rover (5 lbs) and pull long power cable (4 kg-cm stall torque is not enough)
Rotary Encoder-Capable that ideally works with RoboClaw (currently 2x5a, but would upgrade as necessary)
Rover doesn’t need to move fast (average of 30 feet per minute)

Currently using:
Microcontroller- BB2 with Atom Pro28
Motor ControllerRoboClaw 2x5A
Motor- GHM-16 (Gearhead Motor)
Voltage = 12vdc
RPM = 200
Reduction = 30:1
Stall Torque = 55.6 oz-in (4 kg-cm)
Outside Diameter = 37mm

I am open to changing any of the rover components (chassis, motor controller, microcontroller) and drive-train arrangement to acheive more power (torque), utilize encoder, and water resistance.

I am creating 3D CADD models of the components (motors, electronics, etc.) so I can design an polycarbonate encasement for everything. I am thinking to partially enclose the motors to protect the leads and encoder…if necessary.

A web search turned up some manufacturers (ex TTMotor, Electronics Goldmine), but any input from the robot community would be greatly appreciated.

Mike

2

I’m not aware of anything. If you find something interesting let me know. 8)

3

Thanks. I will.

4

Look the Maxon motors, they are powerfull and get rotary encoders.

5

And are QUITE pricey! We use them on the Medical Robot my company makes. However you will want ones with gear boxes. We tend to have our own gear drives. I’ve got a stack of smallish motors with encoders, but no gear boxes!

Alan KM6VV