User Manual for ROBOWORKS models including: Rosbot Mini ROS Education Robot, Mini ROS Education Robot, ROS Education Robot, Education Robot, Robot
Multi-agent Rosbots - Nano x 3 Units - RobotShop
2023-02-21 — Rosbot Mini - Suitable for ROS beginners and low budget projects. Rosbot Pro - Suitable for ROS developers and educators who need a versatile system for ...
ROBOWORKS
Rosbot User Manual
Prepared by: Wayne Liu & Tara Hercz 21 February 2023 Version #: 20230330
Copyright © 2023 Roboworks. All rights reserved.
ROBOWORKS
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 Rosbot is designed for ROS (Robot Operating System) developer, educator and students. The heart of Rosbot is the fully programmable software framework and configurable hardware architecture based on the most popular robotic platform - ROS.
Rosbot comes with three categories:
Rosbot Mini - Suitable for ROS beginners and low budget projects. Rosbot Pro - Suitable for ROS developers and educators who need a versatile system for rapid prototyping or teaching. Rosbot Plus - This is the 4WD version of Rosbot with Independent Suspension Systems. This category is serious enough to be considered for industrial and commercial development.
Rosbot comes with popular ROS controllers such as:
· Jetson Nano · Jetson TX · Xavier · X86 Industrial PC (Built-to-Order Option)
1. Key Component
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ROBOWORKS
Varia%on Rosbot Mini
Image
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Rosbot Pro Rosbot Plus
2. Product Specifications Product Matrix
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Product Name Motor Reduction Ratio Max Speed Weight Max Payload Size Minimal Turning Radius
Rosbot Mini 1:27
1.3m/s 5.92kg 10kg 445*358*125mm 0.77m
Rosbot Pro 1:18
1.65m/s 19.54kg
35kg 774*570*227mm
1.02m
Rosbot Plus 1:18
2.33m/s 35.16kg
22kg 766*671*319mm
1.29m
Battery Life Power Supply
About 8 hours (no load), About 7 hours (fully load)
About 4 hours (no load), About 2.5 hours (fully load)
22.2v 5000mah battery + 2A current smart charger
Steering Gear Wheels Encoder Suspension System Control Interface
HWZ020 20kg torque digital servo
WH060 60kg torque digital servo
125mm diameters solid 150mm diameters solid 254 mm inflatable rubber
rubber wheels
rubber wheels
wheels
500 line AB phase high precision encoder
Coaxial Pendulum Suspension System
4W Independent Suspension System
iOS & Android App via Bluetooth or Wifi, PS2, CAN, Serial Port, USB
3. Introduction of ROS Controllers
There are 3 types of ROS Controllers available for use with the Rosbot based on Nvidia Jetson platform. Jetson nano is suited more towards research and development. Jetson TX is ideal for product prototyping. Jetson Xavier is used more often in research and commercial applications. X86 Industrial PC is designed for robust commercial applications and it is only available for Built-to-Order configurations.
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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 Rosbot 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 Rosbots, ensuring all mapping and navigational uses can be easily achieved in your project. The below table summaries the technical specifications of the LSLiDARs:
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Additionally, all Rosbots 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.
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5. STM32 Board (Motor Control, Power Management & IMU) The STM32F103RC Board is the micro-controller used in all Rosbots. 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 powersaving 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.
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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 Rosbot. 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 Rosbots are solid rubber with snow protection grade tires. There is a coaxial pendulum suspension system, and the top range Rosbots are equipped with shock absorbers with independent suspension systems, ensuring it is able to successfully navigate difficult terrain.
Steering and Driving Technical Specifications:
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Rosbot Chassis Design Diagram: Copyright © 2023 Roboworks. All rights reserved.
7. Battery Technical Specifications All Rosbots 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 Rosbots. It can only be installed on the top of the Robot chassis.
Copyright © 2023 Roboworks. All rights reserved.
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