The R5 Series Omnidirectional Differential Chassis features a specialized differential steering structure based on omni-wheels, ensuring smooth and stable maneuvering. It is designed with pre-configured mounting points to support the integration of NVIDIA Jetson Orin series modules, Raspberry Pi, LiDAR, and cameras, providing a versatile foundation for advanced robotic development.

This innovative product features a robust all-metal plate construction and is powered by DC gear motors, supporting high-load capacities for demanding applications. It offers flexible hardware options, including a choice between GMR or Hall encoders, and utilizes metal Mecanum wheels alongside omnidirectional driven wheels with a swing arm suspension system for superior mobility. Designed for seamless ROS expansion, the platform comes with comprehensive support resources, including full vehicle source code and video tutorials to facilitate development.

Chassis Specifications: Omni-wheel Differential Version

• Version: Omni-wheel Differential Version

• Weight: 4.5kg

• Dimensions (mm): 403.8383.2125

• Wheels:* 125mm Diameter Rubber Wheels

  • 127mm Metal Omni-wheels

• Motor Model: MD36L P27

• Light-load Speed: 1.3m/s

• Payload Capacity: 30kg

Motor Specifications: MD36L P27

• Motor Model: MD36L P27

• Rated Voltage: 24V

• Rated Power: 60W

• No-load Speed: 310 12% RPM

• Rated Speed: 260 12% RPM

• Rated Torque: 10 kgcm

• Stall Torque: 64 kgcm (Min)

• No-load Current: 0.4A (Max)

• Rated Current: 2.9A (Max)

• Stall Current: 22.1A (Max)

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:

Item	GMR Encoder	Hall Effect Encoder
Model	GMR Encoder	Hall Effect Encoder
Resolution	500 ppr (Pulses Per Revolution)	13 ppr (Pulses Per Revolution)
Type	Giant Magnetoresistance (GMR)	Magnetic Induction (Hall Effect)
Supply Voltage	3.3 – 5V	3.3 – 5V
Protection	Includes plastic back cover	Exposed (Magnetic encoders are stable and generally do not require a back cover)
Compatible MCUs	MCUs with hardware encoder interfaces (e.g., STM32). Not compatible with Arduino/51, etc.	Common consumer and industrial-grade general-purpose MCUs

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 530800C, significantly higher than the 150200C 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

Item	Specification
Battery Pack	22.4V 6000mAh
Cell Material	Lithium Iron Phosphate (LiFePO4)
Cut-off Voltage	16.5V
Charging Current	3A
Full Charge Voltage	25.55V
Discharge Performance	15A Continuous Discharge
Max Peak Current	40A
Connectors	DC 4.0*1.7mm Female (Charge) / XT60U-F Female (Discharge)

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 -40C and 75C, 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.

Category	Supported Models / Accessories
ROS Controllers	RDK X5 | Raspberry Pi Series | Jetson Series | Orin Series Controllers
Depth Cameras	Orbbec Astra Pro Plus Depth Camera | Orbbec Gemini Pro Binocular Depth Camera
LiDAR	Leishen N10P & M10P TOF LiDAR | Slamtec C1 TOF LiDAR | LDROBOT LD14P Triangular Ranging LiDAR
Other Accessories	14-inch HD Touchscreen with Enclosure | ROS H30 IMU Module | M260C Circular 6-Microphone Array Module | 24V Lithium Battery Pack | D50A-MOS Motor Driver Module | C50C Brushed Motor Version Robot Control Board

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

Quantity	Item Description
x2	125mm Diameter Cast Aluminum Rubber Load-bearing Wheels
x2	MD36L 60W DC Brushed Motors
x2	13-line / 500-line AB-phase High-precision Encoders
x2	Encoder 6P to 4P Ribbon Cables (Included only with 13-line Hall encoders)
x1	3-inch Caster Wheel (Included only with Caster Differential Version)
x1	127mm Metal Omni-wheel (Included only with Omni-wheel Differential Version)
x2	36-series Planetary Gear Motor Brackets
x2	Full Metal Plates
Set	Assorted screws, nuts, standoffs, and wiring materials