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ROS1、ROS2対応 小型モバイルマニピュレーター、組立完成品
ROS World 2020: ROBOTIS TurtleBot3 Parallel Session - Open Manipulator-X on the TurtleBot3 from Open Robotics on Vimeo.
[903-0259-000] TB3 Waffle Plate-IPL-01 (8ea)
■ Description
TurtleBot3 Plate
Can connect various devices by using bolts.
Can connect 6mm plates by using rivets.
TurtleBot3 can be modified into various shapes as the plates can be assembled in various directions.
Does not break easily as it is made of engineering plastic.
■ Basic Components
Components
Quantity
Frame
TB3 Waffle Plate-IPL-01
8
Screw
PHS M3x8K
20
NUT M3
30
■ How to Use
■ Compatible Products
Dynamixel X430 series
6mm parts (Dream/Smart sets)
■ Hyperlinks
Download Drawing : Click Here
3D Printing STL File : Click Here
Download Assembly Guide : TurtleBot3 BurgerDownload Assembly Guide : TurtleBot3 Waffle
■ Basic Features
■ Package Contents
Description
CONTROLLER
OpenCR1.0
1
CABLE
USB Micro B Cable
■ H/W Specifications
Items
Specifications
Microcontroller
STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS)
Sensors
Gyroscope 3Axis, Accelerometer 3Axis, Magnetometer 3Axis (MPU9250)
Programmer
ARM Cortex 10pin JTAG/SWD connector
USB Device Firmware Upgrade (DFU)
Serial
Extension Pins
32 pins (L 14, R 18) *Arduino connectivity
Sensor module x 4 pins
Extension connector x 18 pins
Communication Circuits
USB (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG)
TTL (B3B-EH-A / Dynamixel)
RS485 (B4B-EH-A / Dynamixel)
UART x 2 (20010WS-04)
CAN (20010WS-04)
LEDs and buttons
LD2 (red/green) : USB communication
User LED x 4 : LD3 (red), LD4 (green), LD5 (blue)
User button x 2
Powers
External input source
5 V (USB VBUS), 7-24 V (Battery or SMPS)
Default battery : LI-PO 11.1V 1,800mAh 19.98Wh
Default SMPS : 12V 5A
External output source
12V@1A(SMW250-02), 5V@4A(5267-02A), 3.3V@800mA(20010WS-02)
External battery Port for RTC (Real Time Clock) (Molex 53047-0210)
Power LED: LD1 (red, 3.3 V power on)
Reset button x 1 (for power reset of board)
Power on/off switch x 1
Dimensions
105(W) X 75(D) mm
Weight (g)
60
■ Diagram
Controller Compatibility Chart : Click Here
Software RoboPlus (R ) : Click Here
Manual : Click Here
FeatureThis frame is used to mount the Raspberry Pi Camera onto the TurtleBot3 or OpenManipulator.
Screws required to mount on the camera and robot are included in the package.
Package Components
Pi-Camera Frame
PHS M2.5x12
5
PHS M2x6
NUT M2.5
NUT M2
Spacer
*Raspberry Pi Camera NOT included in the package.
Please use the camera included in your TurtleBot3 package or purchase separately.
CautionPlease be sure to assembly the cable onto the camera first THEN assembly the camera and frame.
Be sure to keep the cables organized to prevent damages.
The LDS-01 is a 2D laser scanner capable of sensing 360 degrees that collects a set of data around the robot to use for SLAM (Simultaneous Localization and Mapping). It supports USB interface and is easy to install on a PC.
SENSOR
LDS-01
INTERFACE
USB2LDS
SCREW
PHS M2.5x16K
SUPPORT
PCB Support IBB-01
Spacer Ring
Operating supply voltage
5V DC ±5%
Light source
Semiconductor Laser Diode(λ=785nm)
LASER safety
IEC60825-1 Class 1
Current consumption
400mA or less (Rush current 1A)
Detection distance
120mm ~ 3,500mm
Interface
3.3V USART (230,400 bps) 42bytes per 6 degrees, Full Duplex option
Ambient Light Resistance
10,000 lux or less
Sampling Rate
1.8kHz
69.5(W) X 95.5(D) X 39.5(H)mm
Mass
Under 125g
■ Detailed Specifications
Distance Range
120 ~ 3,500mm
Distance Accuracy (120mm ~ 499mm)
±15mm
Distance Accuracy(500mm ~ 3,500mm)
±5.0%
Distance Precision(120mm ~ 499mm)
±10mm
Distance Precision(500mm ~ 3,500mm)
±3.5%
Scan Rate
300±10 rpm
Angular Range
360°
Angular Resolution
1°
Manual (Click Here)
ROS Package (Click here)
Detailed Technical Materials for Download (Click here)
[903-0261-000] TB3 PCB Support-IBB-01 (12ea)
TurtleBot3 Support that can connect various devices
Can be used to connect parts which do not fit the hole spacing of the Waffle plate.
TB3 PCB Support
12
PHS M2x8
10
PHS M2.5x8K
Dynamixel X430 series (Can be attached to the horn)
Download Assembly Guide : TurtleBot3 Burger
Download Assembly Guide : TurtleBot3 Waffle
[903-0260-000] TB3 Wheel Tire Set-ISW-01 (2ea)
TurtleBot3 Wheel Tire Set
Can be attached to the Dynamixel by using bolts.
Rubber tires with high grip force have been applied.
Can be used to make caterpillars, etc. instead of rubber tire.
Wheel
TB3 Wheel
2
913-3018-000
Tire_2 (TR-66)
PHS M2x4K
Dynamixel AX series
Dynamixel RX-28, MX-28
12mm parts
[903-0262-000] TB3 Ball Caster-A01 (1ea)
TurtleBot3 Ball Caster
Compatible with 6mm plate and can be connected to the TB3 Waffle Plate.
TB3 Ball Caster (Frame Steel Ball)
PHS M2x6 TAP-K
Rivet
Rivet (SRV-1I)
TB3 Waffle Plate IPL-01
6mm parts
[903-0271-000] TB3 Caterpillar-ICT-01 (40ea)
TurtleBot3 Caterpillar parts
Can be used with TB3 Wheel after assembling all the Caterpillar parts.
For more details, please refer to the TurtleBot3 Friends (Tank).
TB3 Caterpillar-ICT-01
40
* TB3 Wheel on the image is not included
* The color in this image has been changed for identification. The actual color is black.
STL Drawing : Click here
FeatureThis product is a compact version of OpenManipulator based on ROS.It has a high payload as DYNAMIXEL XM-430 model is applied. Easy to use with PC or mobile platform such as TB3 Waffle Pi. Provides source code and development environment which helps you immediately operate it with TB3 Waffle PiYou can freely select and use either PC or Controller e.g. OpenCR.Provides a variety of open source software as well as 3D drawings and CAD data for research and development.
XM430-W350-T
Exclusive Plastic Frame Set
FR12-H101K
FR12-H104K
FR12-S101K
FR12-S102K
HN12-I101 Set
3
HN11-I101 Set (spare)
Robot Cable Set X3P (by length)
Bolt & Nut Set
Rubber Pad (Finger Tip)
2 types x 2
Phillips Screwdriver
Allen Wrench (by type)
H/W Specification
DYNAMIXEL
Power Supply (sold separately)
12V
Freedom of degree
5 (4DOF 1DOF Gripper)
Payload
500g
RPM (joint)
46RPM
Weight (assembly)
700g
Length
380mm
Gripper stroke
20~75mm
TTL Level Multi Drop BUS
Software
ROS. DYNAMIXEL SDK, Arduino, Processing
Controller (sold separately)
PC, OpenCR
Various Applications
Sold Seperately
Power Supply
SMPS 12V 5A
Controller
OpenCR or PC
U2D2
Etc.
Base Plate-02
CautionDYNAMIXEL, power supply, and controller are not included.Please purchase separately.
Compatible with TB3 controller and power.
The assembly Manuel is not included, but you can download the pdf file on online for free. (Refer to below link)The necessary idler set (HN11-I101 Set) is included in case you would like to use DYNAMIXEL XL430 as a hinge.(* Need to purchase DYNAMIXEL XL430 separately)
FeatureThis product is a frame set which can make X430 based OpenManipulator.You can assemble an OpenManipulator (4 DOF Arm 1 DOF Gripper), which is the same as OpenManipulator (RM-X52).DYNAMIXEL X430 is not included so you can select a suitable DYNAMIXEL model considering payload.XH430, XM430 and XL430 are all compatible with this frame and can be also mixed.Both the idler set and the assembly tool for hinge frame assembly are all included.You can make an OpenManipulator with your desired specification and can fix it on Base Plate-02 or attach it to TB3 Waffle Pi.Package Component
HN11-I101 Set
CautionDYNAMIXEL, power supply, and controller are not included.Please purchase separately. When selecting DYNAMIXEL X430 model, the appropriate model should be selected considering communication method and target specification (payload).
XL430 Single-model configuration is not recommended as it might be short of output.When mixing XL430 with XH / XM430, they (XH / XM430) must be TTL communication model.
When you use XH430-V-series (24V model), you must configure your OpenManipulator as a single 24V model.AX / MX series, X540 series, and PRO series cannot be used.The Assembly Manuel is not included, but you can download the pdf file on online for free. (Refer to below link)
Package Contents
FeatureBase Plate-02 is made of aluminum and used for fixing OpenManupulator(RM-X52)
Can be used to install a manipulator on a table.It can be fixed with a clamp. (Clamp is not included in this package)
Package Component
Wrench Bolt M2.5x20
6
Size (mm)
300 x 300 x 10
Weight (kg)
2.5
How To Assemble
Includes screws and spacer rings in order to fix DYNAMIXEL to Base Plate-02
When assembling XL430, you can use the circular spacer ring included in this package, or use the oval spacer included in XL430 package.
Drawing - LINK
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