YouBot Detailed Specifications
From youBot wiki
Revision as of 12:19, 18 December 2014 by Florek-jasinska (Talk | contribs) (Created page with "== Base == You can also have a look at the base configuration files of the youbot driver [https://github.com/youbot/youbot_driver/blob/master/config/youbot-base.cfg here]. ==...")
Contents
Base
You can also have a look at the base configuration files of the youbot driver here.
General Info
- Overall Weight : ~20 kg
- Overall Length : 580 mm
- Overall Widht : 380 mm
- Overall Height : 140 mm
- Ground Clearance : 20 mm
- Permissible Payload : 20 kg
- Distance between front and rear axis : 470 mm
- Distance between left and right wheel : 300 mm
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
Arm Actuator
For detailed info, refer to the #Actuator_Data
You can also have a look at the arm configuration files of the youbot driver here.
Gripper
- Type : Detachable, 2 fingers
- Gripper stroke : 20 mm
- Gripper range : 70 mm
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 |
Battery
- 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)
- OS : Remastered Ubuntu Linux (preinstalled)
- DC Input : 12 V
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.
