YouBot Detailed Specifications
Contents
Base
A = 74,87 mm B = 100 mm C = 471 mm D = 300,46 mm E = 28 mm (max diameter of the roll )
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
Caution: The battery is in general quite sensitive and should never be left connected when the youbot doesn't work because it slowly discharges and if left connected for too long and unnoticed, it can discharge that much that will get destroyed.
- 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.