Wheeltec R5 Series Robot Universal Wheel Differential Chassis

Encoder Specifications and Comparison

Key Features:

1. Pull-up Output: The encoder features a built-in pull-up resistor (defaulted to the VCC power pin), allowing for direct signal acquisition by a microcontroller (MCU).

2. High Precision: The GMR encoder is 38 times more precise than the Hall effect encoder. It offers significantly better performance at low speeds while maintaining the magnetic stability of a Hall encoder. (Note: Hall encoders are sufficient for most general applications).

Specification Table:

Self-Patented GMR Encoder

The high-precision GMR (Giant Magnetoresistance) encoder is a cutting-edge innovation in the field of motion control. It combines the high-precision advantages of optical encoders with the stability and reliability of Hall effect encoders. By merging these dual characteristics, it is increasingly becoming the preferred high-quality alternative to optical encoders across a wide range of application scenarios.

Safe Lithium Iron Phosphate (LiFePO4) Battery with Optional Metal Enclosure

LiFePO4 batteries use lithium iron phosphate as the cathode material. When protected by a metal enclosure and bracket, these batteries do not catch fire or explode under extreme conditions such as high temperatures, overcharging, or external impacts. The thermal runaway threshold for LiFePO4 is 530–800°C, significantly higher than the 150–200°C of Ternary Lithium batteries. Known for high-temperature resistance, stability, and superior cycle life, it is an excellent choice for balancing energy density and safety.

Key Features

• Upgraded Protection Circuit Board (BMS): The built-in protection board provides comprehensive safeguards against short circuits, overcharging, and over-discharging, significantly enhancing safety performance.

• Professional Certification: Passed UN38.3 certification.

• Premium Grade-A Battery Cells: Cell quality determines battery life. We use original Grade-A cells from top-tier manufacturers to ensure high energy density and reliability.

• High/Low Temp Charge & Discharge Protection: Temperature is a core variable for battery safety. The P7 series features full-spectrum protection (high-temp charge/discharge and low-temp charge/discharge) to ensure safety at the source.

• Metal Protective Enclosure: Assists with heat dissipation, provides a professional aesthetic, and offers high resistance to physical impacts.

Note: LiFePO4 offers a massive safety upgrade compared to Ternary Lithium batteries.

Technical Specifications

Global Safety Certification & Rigorous Testing

This battery has passed the global UN38.3 aviation transportation safety certification and underwent the following rigorous tests to ensure reliable quality.

1. Altitude Simulation Test

Stored for 6 hours at air pressure $\le$ 11.6kPa (simulating high altitude). Result: No leakage, venting, explosion, or fire.

2. Thermal Cycling Test

Cycled between -40°C and 75°C, held for 6 hours at each temperature for 10 repetitions. Result: Stable performance under extreme temperature fluctuations.

3. Vibration Test

Subjected to frequencies of 7Hz~200Hz with vertical and horizontal vibrations for 3 hours. Result: No damage after simulating transport vibrations.

4. Shock Test

The battery is fixed during testing with acceleration applied based on mass. Small/large battery shocks lasted 6/11ms respectively. Result: Structural integrity maintained.

5. External Short Circuit Test

At $20 \pm 5$°C, the positive and negative terminals are short-circuited with low resistance until the temperature recovers. Result: No fire, explosion, or overheating.

6. Crush Test

A force of 13kN is applied according to regulations until the casing cracks or an internal short circuit occurs. Result: No safety hazards throughout the process.

7. Overcharge Test

Charged at 2x rated current until the voltage stabilizes or for a full 7 hours. Result: No thermal runaway or loss of control during overcharging.

8. Forced Discharge Test

At room temperature, the battery is connected in series with a 12V DC power source and suitable resistance to force discharge at maximum current. Result: Passed safety criteria.

High-Performance Omni-Driven Wheels

By utilizing high-precision 127mm metal omni-wheels to replace traditional caster wheels, we have achieved significantly lower noise during movement. These wheels ensure smooth steering with zero jitter and steady startups without vibration. Whether operating on carpet, concrete, or other varying road conditions, the chassis maintains stable performance. Its overall stability and steering precision now closely rival those of 4WD models.

Supported Accessories for R5 Series Chassis

The following accessories are fully compatible with the R5 series chassis installation.

Note: Accessories not listed above can also be installed after verification with customer service or by confirming through technical drawings.

Shipping List

General Notes:

• Every motor comes with matching cables and connectors as a gift.

• Items are shipped as individual components (kits), and assembly tutorials are provided.

• Special Note: The R5 Series Ackerman chassis is shipped fully assembled by default; all other chassis models are shipped as disassembled kits by default.

☑ R5 Series Caster / Omni-wheel Differential Chassis