The Chassis base is now functional and ready to do test drives.At the rear, two sets of custom sprockets was CNC machined in house and mounted on each drive motor and rear wheel. The rear wheel assembly was modified to accommodate the added sprockets. Optical encoders were attached to the drive motors at the rear end of the motor shaft.At the front, the two supporting plates at the top were CNC machined and bolted onto the chassis. The turning shaft is supported by two ball bearings and a thrust bearing plate. A set of timing belt & pulley was used for turning the wheel and the angle feedback is recorded by the potentiometer mounted at the top of the shaft.It is ready now to mount the battery and control electronics to do some testings!

Functional Chassis Base