ROBOWORKS Mini 4WD Rosbot User Manual

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

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.

4GB
100TOPS| 70TOPS| 40 TOPS| 20TOPS
1024-core NVIDIA Ampere architecture GPU with 32 Tensor Cores| 1024-core NVIDIA Ampere architecture GPU with 32 Tensor Cores| 512-core NVIDIA Ampere architecture GPU with 16 Tensor cores
918MHz| 765MHz| 625MHz

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:

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.

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:

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:

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.

plug
Performance| 15A continuous discharge| 30A continuous discharge| 60A continuous discharge
Weight| 0.66kg| 1.25kg| 2.4kg

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