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 | 445*358*125mm | 774*570*227mm | 766*671*319mm |
| 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 | Jetson Orin Nano Developer Kit | Jetson Orin Nano 8GB | Jetson Orin Nano 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:
| 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) |
| 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 | 20000mAh | |
| Battery Voltage | 22.2V | 22.2V | 22.2V |
| Size | 124*71 *42mm | 124*71 *71 mm | 156*1 22*71 mm |
| Power Charger | DC 5.5 Charging plug T-shaped discharge plug | DC 5.5 Charging plug T-shaped discharge plug | DC 5.5 Charging plug T-shaped discharge plug |
| Performance | 15A continuous discharge | 30A continuous discharge | 60A continuous discharge |
| Weight | 0.66kg | 1.25kg | 2.4kg |
Documents / Resources
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ROBOWORKS Mini 4WD Rosbot [pdf] User Manual Mini 4WD Rosbot, 4WD Rosbot, Rosbot |