YouBot Detailed Specifications
Contents
Base
General Info
- Overall Weight : ~20 kg
- Permissible Payload : 20 kg
- Overall Length : 580 mm
- Overall Widht : 380 mm
- Overall Height : 140 mm
- Minimum velocity : 0.01 m/s
- Maximum velocity: 0.8 m/s
- Power supply: 24 V
- Communication: EtherCad
Detailed base geometry
A = 74,87 mm B = 100 mm C = 471 mm D = 300,46 mm E = 28 mm (max diameter of the roll )
- Ground Clearance : 20 mm
You can also have a look at the base configuration files of the youBot driver here.
Base Actuator
For detailed info, refer to the #Actuator_Data
Wheels
- Type : Omni-directional
- Number of wheels : 4
- Diameter : 47,5 mm
Arm
General Info
- No. of Axis : 5
- Height : 655 mm
- Work envelope : 0.513 m2
- Weight : 5.3 kg
- Payload : 0.5 kg
- Structure : Magnesium Cast
- Position repeatability : 1 mm
- Communication : EtherCAT
- Voltage connection : 24V DC
- Drive train power limitable to : 80 W
- Axis Speed : 90 deg/s
- Encoders threshold: 1.000 Hz
Arm kinematics
Workspace
Arm Actuator
Axis data Range Velocity
axis 1 +/– 169° 90 °/s axis 2 + 90°/– 65° 90 °/s axis 3 + 146°/ - 151° 90 °/s axis 4 +/– 102,5° 90 °/s axis 5 +/– 167,5° 90 °/s
For detailed info, refer to the #Actuator_Data
You can also have a look at the arm configuration files of the youbot driver here.
Actuator Data
| Actuator Data | Joint 1 | Joint 2 | Joint 3 | Joint 4 | Joint 5 | Wheel |
|---|---|---|---|---|---|---|
| Motor | ||||||
| Nominal Voltage (V) | 24 | 24 | 24 | 24 | 24 | 24 |
| Nominal Current (A) | 2.32 | 2.32 | 2.32 | 1.07 | 0.49 | 2.32 |
| Nominal Torque (mNm) | 82.7 | 82.7 | 82.7 | 58.8 | 82.7 | |
| Terminal Inductance (mH) | 0.573 | 0.573 | 0.573 | 2.24 | 7.73 | 0.573 |
| Terminal Resistance (Ω) | 0.978 | 0.978 | 0.978 | 4.48 | 13.7 | 0.978 |
| Moment of Inertia (kg*mm2) | 13.5 | 13.5 | 13.5 | 9.25 | 3.5 | 13.5 |
| Rated speed (RPM) | 5250 | 5250 | 5250 | 2850 | 2800 | 5250 |
| Weight (g) | 110 | 110 | 110 | 75 | 46 | 110 |
| Gearbox | ||||||
| Reduction Ratio | 156 | 156 | 100 | 71 | 71 | 26 |
| Moment of Inertia (kg*mm2) | 0.409 | 0.409 | 0.071 | 0.07 | 0.07 | 0.14 |
| Weight (g) | 224 | |||||
| Encoder | ||||||
| Counts per Revolution | 4000 | 4000 | 4000 | 4000 | 4000 | 4000 |
Gripper
- Type : Detachable, 2 fingers
- Gripper stroke : 20 mm
- Gripper range : 70 mm
The TMCM-KR-842 is the gripper board for the KUKA youBot arm placed inside the gripper at the upper end of the arm. The main purpose of this board is controlling the two linear stepper motors (connected separately to the board) inside the gripper. These motors move the two gripper fingers. This attached PDF document - which is also shipped with every KUKA youBot - describes the TMCL protocol that is used for the communication by the RS232 interface at the arm.
http://www.youbot-store.com/media/pdf/tmcm-kr-842_firmware_manual_v100_gripperboard.pdf
Battery
Caution: The battery is in general quite sensitive and should never be left connected when the youBot doesn't work because it slowly discharges. It may eventually results in battery failure.
- Type : Maintenance-free lead acid
- Rechargeable : Yes
- Voltage : 24 V
- Capacity : 5 Ah
- Approximate Runtime of youBot : 90 min
Internal PC
- Type : Mini-ITX
- CPU : Intel Atom D510 Dual Core 1.66 GHz
- RAM : 2 GB; SO-DDR2-667 200PIN
- Hard Drive : 32 GB SSD
- Ports : 6 x USB 2.0, 1 x VGA, 2 x LAN (1 available)
- DC Input : 12 V
Motor controller
All used motor controller boards came from TMCM series by Trinamic.
3D model
Collada youBot model can be found here
Attention : All the above data are subject to change and are provided without warranty
Corrections, suggestions, and new documentation should be posted to the Forum.
