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
| 1.1 | SIZE AND WEIGHT | |
| 1.1.1 | EXTERNAL DIMENSIONS (L x W xH) | 990x670x390 (39×26.4×14.6in) |
| 1.1.2 | INTERNAL DIMENSIONS | 296 x 411 x 155 mm (11.7 x 16.2 x 6.1 in) |
| 1.1.3 | WEIGHT | 50kgs (110lb) |
| 1.1.4 | WHEELS | 330 mm (13 in) Lug Tread |
| 1.1.5 | GROUND CLEARANCE | 130 mm |
| 1.2 | SPEED AND PERFORMANCE | |
| 1.2.1 | MAX. PAYLOAD | 75 Kg (165 lb) |
| 1.2.2 | ALL-TERRAIN PAYLOAD | 20 Kg (44 lb) |
| 1.2.3 | MAX SPEED | 1.0 m/s (2.3 mph) |
| 1.2.4 | DRIVETRAIN / DRIVE POWER | 4×4 Zero-Maintenance |
| 1.2.5 | MAX CLIMB GRADE | 45° (100% Slope) |
| 1.2.6 | MAX TRAVERSAL GRADE | 30° (58% Slope) |
| 1.3 | BATTERY AND POWER SYSTEM | |
| 1.3.1 | BATTERY CHEMISTRY | Sealed Lead Acid |
| 1.3.2 | CAPACITY | 24 V, 20 Ah |
| 1.3.3 | RUNTIME – STANDBY | 8 Hours |
| 1.3.4 | RUNTIME – NOMINAL USAGE | 3 Hours |
| 1.3.5 | CHARGE TIME | 4 Hours |
| 1.3.6 | USER POWER | 5 V, 12 V, 24 V Fused at 5 A each. 192 W total available power(upgrade to 480 W optional) |
| 1.4 | INTERFACING AND COMMUNICATION | |
| 1.4.1 | CONTROL MODES | Direct voltage, wheel speed, and kinematic velocity. |
| 1.4.2 | FEEDBACK | Battery voltage, motor currents, wheel odometry, and controlsystem output. |
| 1.4.3 | COMMUNICATION | RS232 @ 115200 baud |
| 1.4.4 | ENCODERS | Quadrature: 78,000 pulses/m |
| 1.4.5 | DRIVERS AND APIs | ROS Kinetic, C++, and Python. |
| 1.5 | ENVIRONMENTAL | |
| 1.5.1 | OPERATING AMBIENT TEMPERATURE | -10 to 40 °C (14 to 104 °F) Not in direct sunlight |
| 1.5.2 | STORAGE 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 |