Chapter 1: Introduction
Body and Drive Train
The HD-1500 is a differential-drive AMR. It has two drive-wheels, and passive swivel-casters
at its front and rear for balance. The drive-wheels are mounted on the rocker arms, and have
solid polyurethane tread. Refer to the following figure for more information.
This drive style makes the HD-1500 highly maneuverable and allows it to rotate in place.
Figure 1-3. HD-1500Drive Train - Top View, (A)Casters, and (B) Drive Wheels
Each front caster is mounted to the same rocker arm as one of the drive-wheels. The two rear
casters are connected by another rocker that pivots about the AMR's longitudinal center-line.
This arrangement allows the AMR to maintain contact with the floor over uneven areas or
bumps, which benefits both traction and stability. Refer to the following figure for more inform-
ation.
31500-000 Rev A HD-1500 Platform User's Manual 14
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