NMR145

Customized Mobile Manipulator Robotic System

NMR145 Customized Mobile Manipulator Robotic System Consists of the following

1. Mobile Robot.
2. 7DOF Robotic Arm with 2 Finger Gripper.
Integration of the robotic arm and other components as described below on to the Mobile Robot.

Mobile Robot. Specifications in the Table below

1.1SIZE AND WEIGHT
1.1.1EXTERNAL DIMENSIONS (L x W xH)990x670x390 (39×26.4×14.6in)
1.1.2INTERNAL DIMENSIONS296 x 411 x 155 mm (11.7 x 16.2 x 6.1 in)
1.1.3WEIGHT50kgs (110lb)
1.1.4WHEELS330 mm (13 in) Lug Tread
1.1.5GROUND CLEARANCE130 mm
1.2SPEED AND PERFORMANCE
1.2.1MAX. PAYLOAD75 Kg (165 lb)
1.2.2ALL-TERRAIN PAYLOAD20 Kg (44 lb)
1.2.3MAX SPEED1.0 m/s (2.3 mph)
1.2.4DRIVETRAIN / DRIVE POWER4×4 Zero-Maintenance
1.2.5MAX CLIMB GRADE45° (100% Slope)
1.2.6MAX TRAVERSAL GRADE30° (58% Slope)
1.3BATTERY AND POWER SYSTEM
1.3.1BATTERY CHEMISTRYSealed Lead Acid
1.3.2CAPACITY24 V, 20 Ah
1.3.3RUNTIME – STANDBY8 Hours
1.3.4RUNTIME – NOMINAL USAGE3 Hours
1.3.5CHARGE TIME4 Hours
1.3.6USER POWER5 V, 12 V, 24 V Fused at 5 A each. 192 W total available power(upgrade to 480 W optional)
1.4INTERFACING AND COMMUNICATION
1.4.1CONTROL MODESDirect voltage, wheel speed, and kinematic velocity.
1.4.2FEEDBACKBattery voltage, motor currents, wheel odometry, and controlsystem output.
1.4.3COMMUNICATIONRS232 @ 115200 baud
1.4.4ENCODERSQuadrature: 78,000 pulses/m
1.4.5DRIVERS AND APIsROS Kinetic, C++, and Python.
1.5ENVIRONMENTAL
1.5.1OPERATING AMBIENT TEMPERATURE-10 to 40 °C (14  to  104 °F) Not in direct sunlight
1.5.2STORAGE TEMPERATURE-40 to 60 °C (-40 to 140 °F)

7DOF Robotic Arm with Gripper Specifications in the Table below

2.1.1

Degrees of Freedom

7DOF

2.1.2

Payload

(Full-range continuous without gripper)

2.0 kg

  

(mid-range continuous without gripper)

4.0 kg

2.1.3

Total weight

8.2 kg

2.1.4

Maximum reach

902 mm

2.1.5

Maximum Cartesian translation speed

50 cm/s

2.1.6

Actuator joint range after start- up (software limitation)

Infinite

2.1.7

Power supply voltage

18 to 30 VDC, 24 VDC nominal

2.1.8

Average power

36 W

2.1.9

Ingress protection

IP33

2.1.10

Operating temperature

-30 °C to 35 °C

2.1.11

Sensors

– Torque, position, current, voltage, temperature, accelerometer and gyroscope

INTERFACES

2.1.12

Internal communications

2 x 100 Mbps Ethernet

2.1.13

API compatibility

Window S10, Linux Ubuntu 18.04, ROS Melodic

2.1.14

Programming languages

C++, Python and MATLAB

2.1.15

Base interfaces

USB, Ethernet, HD MI, Wi-Fi, Digital I/O

2.1.16

End effector interfaces

RS-485, Ethernet, GPIO, PC, UART, 24 V

supply @1 A

2.1.17

Control system frequency

1kHz

2.1.18

Low-level control

Position, Velocity, Current, Torque

2.1.19

High-level control

Cartesian position/velocity, joint position/velocity, force, torque

2.1.20

Color sensor

Cartesian position/velocity, joint position/velocity, force, torque, Focusing range: 30 cm to infinity

2.1.21

Depth sensor (Intel® RealSense™)

Resolution, frame rates (fps), field of view (FOV): up to 480 x 270 (16:9) @ upto 30 fps; FOV 72 +/- 3° (diagonal), Minimum depth distance (min-Z): 18cm

Aluminum Top Plate

a. Intake & exhaust fan with dust filter for cooling internal electronics must be provided
b. 2 Water proof USB 3.0 Ports
c. PS4 Controller for Tele-Op
d. Vertical Aluminum Extrusion Structure for sensor or Antenna
e. 3 waterproof PG13.5 wire Glands with dummy
f. 3 waterproof PG11 Wire Glands with dummy
g. DIN rail for mounting components
h. 5 Port gigabit Ethernet Switch
i. 7 Port USB 3.0 HUB

CPU Specification

1

Product

Collection

10th Generation Intel® Core™ i5 Processors

2

Vertical Segment

Desktop

3

Processor

Number

I5-10400

4

Status

Launched

5

Launch Date

Q2’20

6

Lithography

14 nm

7

Use Conditions

PC/Client/Tablet

8

Total Cores

6

9

Total Thread

12

10

Max Turbo

Frequency

4.30 GHz

11

Intel® Turbo Boost Technology

2.0 Frequency

4.30 GHz

12

Processor Base

Frequency

2.90 GHz

13

Cache

12 MB Intel® Smart Cache

14

Bus Speed

8 GT/s

15

TDP

65 W

NMR145

Customized Mobile Manipulator Robotic System

NMR145 Customized Mobile Manipulator Robotic System Consists of the following

1. Mobile Robot.
2. 7DOF Robotic Arm with 2 Finger Gripper.
Integration of the robotic arm and other components as described below on to the Mobile Robot.

Mobile Robot. Specifications in the Table below

1.1SIZE AND WEIGHT
1.1.1EXTERNAL DIMENSIONS (L x W xH)990x670x390 (39×26.4×14.6in)
1.1.2INTERNAL DIMENSIONS296 x 411 x 155 mm (11.7 x 16.2 x 6.1 in)
1.1.3WEIGHT50kgs (110lb)
1.1.4WHEELS330 mm (13 in) Lug Tread
1.1.5GROUND CLEARANCE130 mm
1.2SPEED AND PERFORMANCE
1.2.1MAX. PAYLOAD75 Kg (165 lb)
1.2.2ALL-TERRAIN PAYLOAD20 Kg (44 lb)
1.2.3MAX SPEED1.0 m/s (2.3 mph)
1.2.4DRIVETRAIN / DRIVE POWER4×4 Zero-Maintenance
1.2.5MAX CLIMB GRADE45° (100% Slope)
1.2.6MAX TRAVERSAL GRADE30° (58% Slope)
1.3BATTERY AND POWER SYSTEM
1.3.1BATTERY CHEMISTRYSealed Lead Acid
1.3.2CAPACITY24 V, 20 Ah
1.3.3RUNTIME – STANDBY8 Hours
1.3.4RUNTIME – NOMINAL USAGE3 Hours
1.3.5CHARGE TIME4 Hours
1.3.6USER POWER5 V, 12 V, 24 V Fused at 5 A each. 192 W total available power(upgrade to 480 W optional)
1.4INTERFACING AND COMMUNICATION
1.4.1CONTROL MODESDirect voltage, wheel speed, and kinematic velocity.
1.4.2FEEDBACKBattery voltage, motor currents, wheel odometry, and controlsystem output.
1.4.3COMMUNICATIONRS232 @ 115200 baud
1.4.4ENCODERSQuadrature: 78,000 pulses/m
1.4.5DRIVERS AND APIsROS Kinetic, C++, and Python.
1.5ENVIRONMENTAL
1.5.1OPERATING AMBIENT TEMPERATURE-10 to 40 °C (14  to  104 °F) Not in direct sunlight
1.5.2STORAGE TEMPERATURE-40 to 60 °C (-40 to 140 °F)

7DOF Robotic Arm with Gripper Specifications in the Table below

2.1.1

Degrees of Freedom

7DOF

2.1.2

Payload

(Full-range continuous without gripper)

2.0 kg

  

(mid-range continuous without gripper)

4.0 kg

2.1.3

Total weight

8.2 kg

2.1.4

Maximum reach

902 mm

2.1.5

Maximum Cartesian translation speed

50 cm/s

2.1.6

Actuator joint range after start- up (software limitation)

Infinite

2.1.7

Power supply voltage

18 to 30 VDC, 24 VDC nominal

2.1.8

Average power

36 W

2.1.9

Ingress protection

IP33

2.1.10

Operating temperature

-30 °C to 35 °C

2.1.11

Sensors

– Torque, position, current, voltage, temperature, accelerometer and gyroscope

INTERFACES

2.1.12

Internal communications

2 x 100 Mbps Ethernet

2.1.13

API compatibility

Window S10, Linux Ubuntu 18.04, ROS Melodic

2.1.14

Programming languages

C++, Python and MATLAB

2.1.15

Base interfaces

USB, Ethernet, HD MI, Wi-Fi, Digital I/O

2.1.16

End effector interfaces

RS-485, Ethernet, GPIO, PC, UART, 24 V

supply @1 A

2.1.17

Control system frequency

1kHz

2.1.18

Low-level control

Position, Velocity, Current, Torque

2.1.19

High-level control

Cartesian position/velocity, joint position/velocity, force, torque

2.1.20

Color sensor

Cartesian position/velocity, joint position/velocity, force, torque, Focusing range: 30 cm to infinity

2.1.21

Depth sensor (Intel® RealSense™)

Resolution, frame rates (fps), field of view (FOV): up to 480 x 270 (16:9) @ upto 30 fps; FOV 72 +/- 3° (diagonal), Minimum depth distance (min-Z): 18cm

Aluminum Top Plate

a. Intake & exhaust fan with dust filter for cooling internal electronics must be provided
b. 2 Water proof USB 3.0 Ports
c. PS4 Controller for Tele-Op
d. Vertical Aluminum Extrusion Structure for sensor or Antenna
e. 3 waterproof PG13.5 wire Glands with dummy
f. 3 waterproof PG11 Wire Glands with dummy
g. DIN rail for mounting components
h. 5 Port gigabit Ethernet Switch
i. 7 Port USB 3.0 HUB

CPU Specification

1

Product

Collection

10th Generation Intel® Core™ i5 Processors

2

Vertical Segment

Desktop

3

Processor

Number

I5-10400

4

Status

Launched

5

Launch Date

Q2’20

6

Lithography

14 nm

7

Use Conditions

PC/Client/Tablet

8

Total Cores

6

9

Total Thread

12

10

Max Turbo

Frequency

4.30 GHz

11

Intel® Turbo Boost Technology

2.0 Frequency

4.30 GHz

12

Processor Base

Frequency

2.90 GHz

13

Cache

12 MB Intel® Smart Cache

14

Bus Speed

8 GT/s

15

TDP

65 W

NMR145

Customized Mobile Manipulator Robotic System

NMR145 Customized Mobile Manipulator Robotic System Consists of the following

1. Mobile Robot.
2. 7DOF Robotic Arm with 2 Finger Gripper.
Integration of the robotic arm and other components as described below on to the Mobile Robot.

Mobile Robot. Specifications in the Table below

1.1SIZE AND WEIGHT
1.1.1EXTERNAL DIMENSIONS (L x W xH)990x670x390 (39×26.4×14.6in)
1.1.2INTERNAL DIMENSIONS296 x 411 x 155 mm (11.7 x 16.2 x 6.1 in)
1.1.3WEIGHT50kgs (110lb)
1.1.4WHEELS330 mm (13 in) Lug Tread
1.1.5GROUND CLEARANCE130 mm
1.2SPEED AND PERFORMANCE
1.2.1MAX. PAYLOAD75 Kg (165 lb)
1.2.2ALL-TERRAIN PAYLOAD20 Kg (44 lb)
1.2.3MAX SPEED1.0 m/s (2.3 mph)
1.2.4DRIVETRAIN / DRIVE POWER4×4 Zero-Maintenance
1.2.5MAX CLIMB GRADE45° (100% Slope)
1.2.6MAX TRAVERSAL GRADE30° (58% Slope)
1.3BATTERY AND POWER SYSTEM
1.3.1BATTERY CHEMISTRYSealed Lead Acid
1.3.2CAPACITY24 V, 20 Ah
1.3.3RUNTIME – STANDBY8 Hours
1.3.4RUNTIME – NOMINAL USAGE3 Hours
1.3.5CHARGE TIME4 Hours
1.3.6USER POWER5 V, 12 V, 24 V Fused at 5 A each. 192 W total available power(upgrade to 480 W optional)
1.4INTERFACING AND COMMUNICATION
1.4.1CONTROL MODESDirect voltage, wheel speed, and kinematic velocity.
1.4.2FEEDBACKBattery voltage, motor currents, wheel odometry, and controlsystem output.
1.4.3COMMUNICATIONRS232 @ 115200 baud
1.4.4ENCODERSQuadrature: 78,000 pulses/m
1.4.5DRIVERS AND APIsROS Kinetic, C++, and Python.
1.5ENVIRONMENTAL
1.5.1OPERATING AMBIENT TEMPERATURE-10 to 40 °C (14  to  104 °F) Not in direct sunlight
1.5.2STORAGE TEMPERATURE-40 to 60 °C (-40 to 140 °F)

7DOF Robotic Arm with Gripper Specifications in the Table below

2.1.1

Degrees of Freedom

7DOF

2.1.2

Payload

(Full-range continuous without gripper)

2.0 kg

  

(mid-range continuous without gripper)

4.0 kg

2.1.3

Total weight

8.2 kg

2.1.4

Maximum reach

902 mm

2.1.5

Maximum Cartesian translation speed

50 cm/s

2.1.6

Actuator joint range after start- up (software limitation)

Infinite

2.1.7

Power supply voltage

18 to 30 VDC, 24 VDC nominal

2.1.8

Average power

36 W

2.1.9

Ingress protection

IP33

2.1.10

Operating temperature

-30 °C to 35 °C

2.1.11

Sensors

– Torque, position, current, voltage, temperature, accelerometer and gyroscope

INTERFACES

2.1.12

Internal communications

2 x 100 Mbps Ethernet

2.1.13

API compatibility

Window S10, Linux Ubuntu 18.04, ROS Melodic

2.1.14

Programming languages

C++, Python and MATLAB

2.1.15

Base interfaces

USB, Ethernet, HD MI, Wi-Fi, Digital I/O

2.1.16

End effector interfaces

RS-485, Ethernet, GPIO, PC, UART, 24 V

supply @1 A

2.1.17

Control system frequency

1kHz

2.1.18

Low-level control

Position, Velocity, Current, Torque

2.1.19

High-level control

Cartesian position/velocity, joint position/velocity, force, torque

2.1.20

Color sensor

Cartesian position/velocity, joint position/velocity, force, torque, Focusing range: 30 cm to infinity

2.1.21

Depth sensor (Intel® RealSense™)

Resolution, frame rates (fps), field of view (FOV): up to 480 x 270 (16:9) @ upto 30 fps; FOV 72 +/- 3° (diagonal), Minimum depth distance (min-Z): 18cm

Aluminum Top Plate

a. Intake & exhaust fan with dust filter for cooling internal electronics must be provided
b. 2 Water proof USB 3.0 Ports
c. PS4 Controller for Tele-Op
d. Vertical Aluminum Extrusion Structure for sensor or Antenna
e. 3 waterproof PG13.5 wire Glands with dummy
f. 3 waterproof PG11 Wire Glands with dummy
g. DIN rail for mounting components
h. 5 Port gigabit Ethernet Switch
i. 7 Port USB 3.0 HUB

CPU Specification

1

Product

Collection

10th Generation Intel® Core™ i5 Processors

2

Vertical Segment

Desktop

3

Processor

Number

I5-10400

4

Status

Launched

5

Launch Date

Q2’20

6

Lithography

14 nm

7

Use Conditions

PC/Client/Tablet

8

Total Cores

6

9

Total Thread

12

10

Max Turbo

Frequency

4.30 GHz

11

Intel® Turbo Boost Technology

2.0 Frequency

4.30 GHz

12

Processor Base

Frequency

2.90 GHz

13

Cache

12 MB Intel® Smart Cache

14

Bus Speed

8 GT/s

15

TDP

65 W

Datasheet