Thought I would share...

[kmax]

I've just mocked up the right angle gear box that will turn the wheels in my Mars Sojourner-ish robot.  In the photo the parts represent all of the structural members that correctly allign the bearings and shafts between the harmonic drive reductions and rotating wheel assembly.  In the back side of each plate (away from the camera) is a precision bore that has been reamed for a medium press fit on the bearing.  The press fit has been sized to operate from -20F to +120F without material damage.

[Dave]

That's a very nice looking piece of work.

[Avayan]

WOW!

That looks amazing! CNC? I see some pencil markings. If you did this by hand, please allow me to bow to thee!

JIQ

[kmax]

Yes, more than just a bit of CNC going on there.    -Kenneth

[EvilSpeeder]

Pretty parts!  I've always wanted to build a Sojourner/Spirit/Opportunity type model but funding for the drive components has held me up thus far.  That's a lot of motors!  6 for drive and 4 for steering the outboard wheels right?  Are your drive motors going to be hub mounted? 

[kmax]

I have already built the wheel / drive motor assemblies...  Yes, 6 drive motors and 4 turning motors.  I realized (after I started fabrication) that I should have planned for 6 turning motors for better performance / different options in locomotion, but this may have to be the next version I build.  I hear you on the price tag, want to buy a kidney?  I've got to finance this some how.   

Sorry for the poor pictures but the images below should give you and idea.  The first image has approximate spacing, the second shows the gear box assembly installed just waiting for the "hub cap" that ties it back to the wheel rims.




Yeppers, many many hundreds of hours of machining thus far and many many more to go...   

[apprentice_nick]

Wow. Sorry, thats all I got at the moment. Lost for words.

[Avayan]

I only have one word I can think of... GORGEOUS! This is simply gorgeous! Good work, man. Very exciting to see how this project progresses.