User Manual for ROBOWORKS models including: Mecabot, Mecabot Autonomous Mobile Robot Platform, Autonomous Mobile Robot Platform, Mobile Robot Platform, Robot Platform, Platform
Mecabot - Orin NX - RobotShop
Mecabot X - Orin NX - RobotShop
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DocumentDocumentROBOWORKS www.roboworks.net Mecabot User Manual Authors: Tara Hercz & Wayne Liu 1 May 2024 Copyright © 2024 Roboworks. All rights reserved. ROBOWORKS www.roboworks.net TABLE OF CONTENTS 1. Key Components 2. Product Specifications 3. Introduction to ROS Controllers 4. Sensing System: LiDAR & Depth Camera 5. STM32 Board (Motor Control, Power Management & IMU) 6. Steering & Driving System 7. Battery Technical Specifications Summary Mecabot is an educational and research robot based on ROS (Robot Operating System) for robotic researchers, educators, students and developers. Mecabot is equipped with builtin ROS Controller, LiDAR, Depth Camera, STM32 Motor/Power/IMU Controller and metal chassis with omnidirectional mecanum wheels. Mecabot is ideal for ROS beginners with affordable price, compact design and ready-to-go package. Mecabot is also a solid Autonomous Mobile Robot (AMR) platform for robotic education and research projects. Mecabot comes with four varieties: Mecabot - Suitable for ROS beginners and low budget projects. Mecabot Pro - An ideal Autonomous Mobile Robot (AMR) platform for robotic education, R&D projects and rapid prototyping. Mecabot Plus - An ideal Autonomous Mobile Robot (AMR) platform for indoor service robot applications. This category is serious enough to be considered for industrial and commercial development. Mecabot X - An ideal Autonomous Mobile Robot (AMR) platform for indoor service robot applications with full metallic enclosure. Mecabot comes with popular ROS controllers such as: · Jetson - Orin Nano · Jetson - Orin NX Copyright © 2024 Roboworks. All rights reserved. ROBOWORKS 1. Key Components www.roboworks.net Varia%on Mecabot Image Copyright © 2024 Roboworks. All rights reserved. Mecabot Pro Mecabot Plus Mecabot X www.roboworks.net Copyright © 2024 Roboworks. All rights reserved. www.roboworks.net 2. Product Specifications Photo Mecabot Mecabot Pro Mecabot Plus Mecabot X Independent Suspension Dimension Weight Payload Wheel Size (Diameter) Max Speed Power Supply Battery Life Motor and Reduction Ratio Encoder I/O Interface Remote Control No Yes Yes Yes 407x410.5x153 mm 6.1kg 15kg 100mm 541x225.5x581 mm 10.8kg 20kg 636x554x248 mm 19kg 60kg 152mm 60x581x203 mm 20.5kg 60kg 1.2m/s 1.83m/s 1.39m/s 22.2V, 5000 mAh battery, 2A charger 6.5 hours without loading 5.5 hours with 3kg loading 3.5 hours without loading 2.8 hours with 3kg loading MD36N 35W DC Brushed Motor 1:27 Reduction Ratio MD60 100W DC Brushed Motor 1:18 Reduction Ratio 500-line giant magnetoresistance effect AB phase high-precision encoder CAN, Serial Ports, USB, HDMI iOS/Android Apps (default) PS2, Model Aircraft Remote Control (optional and payable) Copyright © 2024 Roboworks. All rights reserved. www.roboworks.net 3. Introduction of ROS Controllers There are 2 types of ROS Controllers available for use with the Rosbot 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 Roboworks. Both boards allow high level computation and are suited towards advanced robotic applications such as computer vision, deep learning and motion planning. 4. Sensing System: LiDAR & Depth Camera A Leishen LSLiDAR is installed on all Mecabot 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 Mecabots, ensuring all mapping and navigational uses can be easily achieved in your project. Copyright © 2024 Roboworks. All rights reserved. www.roboworks.net The below table summaries the technical specifications of the LSLiDARs: Additionally, all Mecabots 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. 5. STM32 Board (Motor Control, Power Management & IMU) Copyright © 2024 Roboworks. All rights reserved. www.roboworks.net The STM32F103RC Board is the micro-controller used in all Mecabots. It 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 micro-controller 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. Copyright © 2024 Roboworks. All rights reserved. www.roboworks.net STM32F103RC Core Memories Clock, Reset and Supply Management Power DMA Debug Mode I/O ports Timers Communication Interface Features ARM32-bit Cortex M3 CPU Max speed of 72 MHz 512 KB of Flash memory 64kB of SRAM 2.0 to 3.6 V application supply and I/Os Sleep, Stop and Standby modes V supply for RTC and backup registers BAT 12-channel DMA controller SWD and JTAG interfaces Cortex-M3 Embedded Trace Macrocell 51 I/O ports (mappable on 16 external interrupt vectors and 5V tolerant) 4x16-bit timers 2 x 16-bit motor control PWM timers (with emergency stop) 2 x watchdog timers (independent and Window) SysTick timer (24-bit downcounter) 2 x 16-bit basic timers to drive the DAC USB 2.0 full speed interface SDIO interface CAN interface (2.0B Active) 6. Steering & Driving System The Steering and Driving system is integrated with the design and build of the Mecabot. 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 Mecabots are omnidirectional mecanum wheels with all varieties besides the standard Mecabot inclusive of an independent suspension system. The Mecabot family of robots are ideal for a wide variety of research and commercial applications making it the perfect robot for your next project. Copyright © 2024 Roboworks. All rights reserved. Mecabot Design Diagram: www.roboworks.net Mecabot Pro Design Diagram: Copyright © 2024 Roboworks. All rights reserved. www.roboworks.net Mecabot Plus Design Diagram: Copyright © 2024 Roboworks. All rights reserved. Mecabot X Design Diagram: www.roboworks.net Copyright © 2024 Roboworks. All rights reserved. www.roboworks.net 7. Battery Technical Specifications All Mecabot 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 Mecabots. It can only be installed on the top of the Robot chassis. Copyright © 2024 Roboworks. All rights reserved.