Nigel 4WD4WS Assembly Animation | Build Your Own

Nigel is a 1:14 scale vehicle of AutoDRIVE Ecosystem. This video features an over-actuated variant of Nigel (thanks to its open-source and modular design) having all-wheel independent drive and all-wheel independent steering with extended (± 90°) steering angles (i.e., independent 4WD4WS configuration).
Nigel 4WD4WS comprises of four modular platforms, each housing distinct components and subsystems of the vehicle. The individual platforms are fabricated by laser cutting 3 mm thick acrylic sheets, which are stacked at the designed offsets employing brass spacers of appropriate length.
The first (i.e., bottom-most) platform acts as a scrub-guard and covers the wheel-end sub-assemblies. The second platform hosts 4 steering servo actuators coupled with the respective wheel-end sub-assemblies and hosts power electronics components including a lithium polymer (LiPo) battery, master switch, buck converter, and LiPo voltage checker. It also mounts the front and rear lighting units. The DC geared motors driving each of the 4 wheels are fastened to their respective acrylic mounts as a part of each wheel sub-assembly. The third platform accommodates an onboard computer, along with a custom auxiliary board and also hosts a microphone. The auxiliary board routes connections to the low-level microcontroller unit as well as the motor drivers, and also takes care of power distribution. It also hosts a passive buzzer and a 9-axis IMU. Finally, the fourth platform mounts RGB/RGB-D/stereo cameras and a planar LIDAR unit. It also has vacant space to paste an AprilTag marker to uniquely identify the vehicle.
AutoDRIVE Ecosystem Website: autodrive-ecosystem.github.io
Assembly Guide: github.com/Tinker-Twins/AutoD...
Bill of Materials (BOM): github.com/Tinker-Twins/AutoD...
Nigel 4WD4WS Feature Video: • Presenting Nigel 4WD4W...
Nigel 4WD4WS Preprint: arxiv.org/abs/2401.11542
Nigel 4WD4WS Publication: doi.org/10.1109/TMECH.2024.34...
AutoDRIVE Ecosystem Published Article: www.mdpi.com/2313384
AutoDRIVE Ecosystem Preprint: arxiv.org/abs/2212.05241
AutoDRIVE Simulator Published Article: dl.acm.org/doi/abs/10.1145/34...
AutoDRIVE Simulator Preprint: arxiv.org/abs/2103.10030
AutoDRIVE Ecosystem Technical Report: arxiv.org/abs/2211.08475
AutoDRIVE Simulator Technical Report: arxiv.org/abs/2211.07022
A similar assembly animation of an Ackermann-steered (AS) variant of Nigel is available here: • Nigel Assembly Animati...