ROBOWORKS Mini 4WD Rosbot User Manual

: July 2, 2024
: ROBOWORKS

Table of Contents

Summary
Key Component
Product Specifications
Introduction of ROS Controllers
Sensing System: LiDAR & Depth Camera
STM32 Board (Motor Control, Power Management & IMU)
Steering & Driving System
Battery Technical Specifications
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ROBOWORKS Mini 4WD Rosbot

Summary

Ros bot is designed for ROS (Robot Operating System) developer, educator and students. The heart of Ros bot is the fully programmable software framework and configurable hardware architecture based on the most popular robotic platform – ROS.

Ros bot comes with three categories:

Ros bot – Suitable for ROS beginners and low budget projects.
Ros bot Pro – Suitable for ROS developers and educators who need a versatile system for rapid prototyping or teaching.
Ros bot Plus – This is the 4WD version of Ros bot with Independent Suspension Systems. This category is serious enough to be considered for industrial and commercial development.

Ros bot comes with popular ROS controllers such as:

Jetson Orin Nano
Jetson Orin NX

Key Component

Variation	Image
Ros bot Mini
Ros bot Pro
Ros bot Plus

Product Specifications

Product Matrix| | |
---|---|---|---
Product Name| Ros bot Mini| Ros bot Pro| Ros bot Plus
---|---|---|---
Motor Reduction Ratio| 1:27| 1:18| 1:18
Max Speed| 1.3m/s| 1.65m/s| 2.33m/s
Weight| 5.92kg| 19.54kg| 35.16kg
Max Payload| 10kg| 35kg| 22kg
Size| 445358125mm| 774570227mm| 766671319mm
Minimal Turning Radius| 0.77m| 1.02m| 1.29m
Battery Life| About 8 hours (no load), About 7 hours (fully load)| About 4 hours (no load), About 2.5 hours (fully load)
Power Supply| 22.2v 5000mah battery + 2A current smart charger
Steering Gear| HWZ020 20kg torque digital servo| WH060 60kg torque digital servo
Wheels| 125mm diameters solid rubber wheels| 150mm diameters solid rubber wheels| 254 mm inflatable rubber wheels
Encoder| 500 line AB phase high precision encoder
Suspension System| Coaxial Pendulum Suspension System| 4W Independent Suspension System
Control Interface| iOS & Android App via Bluetooth or Wifi, PS2, CAN, Serial Port, USB

Introduction of ROS Controllers

There are 2 types of ROS Controllers available for use with the Ros bot based on Nvidia Jetson platform. Jetson Orin Nano is ideal for education and research. Jetson Orin NX is used more often in prototyping and commercial applications.

The following table illustrates the main technical differences between the various controllers available from Rob works. Both boards allow high level computation and are suited towards advanced robotic applications such as computer vision, deep learning and motion planning.

Jetson Orin NX series	Jetson Orin Nano series
Jetson Orin NX 16GB	Jetson Orin NX 8GB
Developer Kit**	Jetson Orin Nano 8GB

Sensing System: LiDAR & Depth Camera

A Leishen LSLiDAR is installed on all Ros bot variations with either the N10 or M10 model being used. These LiDAR’s offer a 360 degree scanning range and surroundings perception and boast a compact and light design. They have a high Signal Noise Ratio and excellent detection performance on high/low reflectivity objects and perform well in strong light conditions. They have a detection range of 30 metres and a scan frequency of 12Hz. This LiDAR integrates seamlessly into the Ros bots, ensuring all mapping and navigational uses can be easily achieved in your project.

The below table summaries the technical specifications of the LSLiDARs:

LS LiDAR	N10	M10	C16 (3D)
Detection Range	25m	30m	70/120/150 m
Scan Frequency	10Hz	12Hz	5/10/20Hz
Samples Frequency	4,500Hz	20,000Hz	240,000Hz
Output Contents	Angular, Distant and Light Intensity Data	Angular and
Distant Data	Angular, Distant, Time Stamp and Light Intensity Data
Angular Resolution	0,8	0,22	1~2
Interface Type	Serial Port	Ethernet Port	Ethernet Port

Additionally, all Ros bots are equipped with an Orbbec Astra Depth Camera, which is an RGBD camera. This camera is optimized for a rage of uses including gesture control, skeleton tracking, 3D scanning and point cloud development. The following table summarizes the technical features of the depth camera.

Orbed Astra Depth Camera	Specs
Depth Resolution	640×480
RBG Resolution	640×480
RGB Sensing Angle	63.1×49.4 degree
Depth Sensing Angle	58.4×45.5 degree
Monocular/Binocular Structural Light	Monocular Structural Light +

Monocular RGB
Depth Frame per Second| 640×480@30fps
RGB Frame per Second| 640×480@30fps
Depth Range| 0.4~2m
Data Transfer Interface| USB2.0 or above

STM32 Board (Motor Control, Power Management & IMU)

STM32 Board

The STM32 is the micro-controllers used in all Ros bots. The STM32 board has a high performance ARM Cortex -M3 32-bit RISC core operating at a 72MHz frequency along with high-speed embedded memories. It operates in -40°C to +105°C temperature range, suiting all robotic applications in worldwide climates. There are power-saving modes which allow the design of low-power applications. Some of the applications of this microcontroller include: motor drives, application control, robotic application, medical and handheld equipment, PC and gaming peripherals, GPS platforms, industrial applications, alarm system video intercom and scanners.

Front of STM32 board:

STM32F103RC	Features
Core	ARM32-bit Cortex –M3 CPU Max speed of 72 MHz
Memories	512 KB of Flash memory 64kB of SRAM
Clock, Reset and Supply Management	2.0 to 3.6 V application supply and

I/Os
Power| Sleep, Stop and Standby modes RTC and backup registers
DMA| 12-channel DMA controller
Debug Mode| SWD and JTAG interfaces Cortex-M3 Embedded Trace Microcell
I/O ports| 51 I/O ports (mappable on 16 external interrupt vectors and 5V tolerant)
Timers| 4×16-bit timers

2 x 16-bit motor control PWM timers (with emergency stop)
2 x watchdog timers (independent and Window) Sys Tick timer (24-bit downcounter)
2 x 16-bit basic timers to drive the DAC

Communication Interface| USB 2.0 full speed interface SDIO interface
CAN interface (2.0B Active)

Steering & Driving System

The Steering and Driving system is integrated with the design and build of the Ros bot. Depending on the model purchased it will be either a 2 wheel or 4 wheel drive, with both options being suitable to a variety of research and development purposes. The wheels on all Ros bots are solid rubber with snow protection grade tires. There is a coaxial pendulum suspension system, and the top range Ros bots are equipped with shock absorbers with independent suspension systems, ensuring it is able to successfully navigate difficult terrain.

Steering and Driving Technical Specifications:

STM32F103RC	Features
Core	ARM32-bit Cortex –M3 CPU Max speed of 72 MHz
Memories	512 KB of Flash memory 64kB of SRAM
Clock, Reset and Supply Management	2.0 to 3.6 V application supply and

I/Os
Power| Sleep, Stop and Standby modes RTC and backup registers
DMA| 12-channel DMA controller
Debug Mode| SWD and JTAG interfaces Cortex-M3 Embedded Trace Microcell
I/O ports| 51 I/O ports (mappable on 16 external interrupt vectors and 5V tolerant)
Timers| 4×16-bit timers 2 x 16-bit motor control PWM timers (with emergency stop)
2 x watchdog timers (independent and Window)
Sy stick timer (24-bit down counter)
2 x 16-bit basic timers to drive the DAC
Communication Interface| USB 2.0 full speed interface
SDIO interface
CAN interface (2.0B Active)

Rosbot Chassis Design Diagram:

Rosbot Pro Chassis Design Diagram :

Rosbot Plus Chassis Design Diagram :

Battery Technical Specifications

All Ros bots come with a 5000 mAh battery and a Power Charger. Customers can upgrade the battery to 10000 mAh or 20000 mAh with additional cost. The 20000 mAh battery is too large to house within the enclosure of any Ros bots. It can only be installed on the top of the Robot chassis.

Battery parameter	Features
5000mAh	10000mAh
Battery Voltage	22.2V
Size	12471 42mm
Power Charger	DC 5.5 Charging plug T-shaped discharge plug
Charging plug T-shaped discharge plug	DC 5.5 Charging plug T-shaped discharge