New composite robot development platform

Platform introduction
MMC1 is built from the independently developed indoor and outdoor universal mobile chassis MR600, which can be adapted to indoor and outdoor use scenarios. Adopting a modular design scheme, the robot's brain (high-performance computing module), eyes (depth vision), hands (JAKA collaborative robotic arm + end gripper), and feet (indoor and outdoor universal mobile chassis) are integrated into one, with powerful functions. It supports ROS secondary development and is equipped with rich secondary development interfaces and development resources to help users quickly start a journey of unlimited creation.

MMC1 will provide users with YOLO visual open source code as well as fruit recognition models and water bottle recognition models. On this basis, users can carry out recognition of more different types of objects and AI model training, which not only allows the robot to see more, but also understand. In order to facilitate users to quickly start development projects, this robot will also provide users with complete demo source code for apple picking and water bottle grabbing.

As a composite robot development platform based on ROS, MMC1 can realize 2D laser SLAM mapping positioning and path planning, intelligent obstacle avoidance and other functions. It will also provide users with source code to help users quickly deploy and realize the robot environment perception function. Users can also On this basis, better navigation algorithms will be developed.

Specification
Robot body:

1. Load: 1.0kg

2.▲Weight (including cable): 9.4kg

3.▲Working radius: less than 580mm

4. Repeat positioning accuracy: ±0.1mm

5. Number of degrees of freedom: 6

6. Programming method: supports graphical programming and drag-and-drop programming

7.▲Teaching pendant type: tablet/mobile phone APP (wireless teaching pendant)

8. Action range and speed:

1) Joint 1, ±360°, maximum speed 180°

2) Joint 2, ±120°, maximum speed 180°

3) Joint 3, ±150°, maximum speed 180°

4) Joint 4, ±360°, maximum speed 180°

5) Joint 5, ±120°, maximum speed 180°

6) Joint 6, ±360°, maximum speed 180°

9. Maximum speed of tool end: 1.5m/s

10. Rated power: 150W

11. Temperature range: 0-50℃

12.IP rating: IP40

13. Robot installation: installation at any angle

14.Tool I/O port:

1) Numeric input: 2

2) Digital output: 2

3) Analog input: 1

15. Tool I/O power supply: 24VDC

16.Material: aluminum alloy, PC

17. Base diameter: 124mm

18.Robot connection cable length: 6m

Electric control cabinet:

19.Input power: 20-60VDC

20.Input current: 40A

21. Size: 180*128*47 (mm) (L*W*H)

22. I/O port: 7 ports; input and output configurable

23.I/O power supply: 24VDC

24. Installation method: panel/rail

25.▲Communication protocol: supports TCP/IP, Modbus TCP, Modbus RTU

26.▲Weight: 1.1kg

27.Material: aluminum alloy, steel

2D navigation chassis:

Overall dimensions: length 625×width 590×height 465mm

Rotation diameter: 800mm

Obstacle clearance height: 4cm

Weight: 43Kg

Rated load: 12Kg

Drive form: 4-wheel differential drive

Tires: 8-inch solid rubber tires (diameter 196mm)

Motor: Brushless servo motor

Encoder: 2500PPR magnetic encoding

Transmission: reduction ratio 1:20

Steering: Differential steering

Braking: Servo brake

Speed: 0～1.5m/s

Climbing ability: 30°

Safety:

Collision: front + rear anti-collision bar

Emergency stop: the last emergency stop button

Navigation:

Navigation method: laser SLAM

Positioning accuracy: ±50mm/±5°

Minimum narrow channel width: 800mm

Computer host: embedded edge computing platform (based on Nvidia Jetson Nano development kit), 4G memory, 128G hard disk

LiDAR: 2D Single Line TOF

Range 0m-25m (≥25m@70% reflectivity, ≥15m@10 reflectivity)

Accuracy ±2cm

Horizontal viewing angle 270°

Attitude sensor IMU: 6-axis (acceleration 3D, angular velocity 3D, angle 3D)

Router: supports 2.4G WiFi

Display: 13.3 inches, 1920×1080, touch screen

Interface

Communication: RS232

Power output: 12V (15A)

Battery voltage: (10A)

Total power≤500W

Extension: 4×100M network port

4 USB 3.0 ports

Remote control: 2.4GHz ISM, remote control distance ≤200m

Battery

Running time: 4-6 hours

Charging time: 3.5 hours

Nominal voltage: 48V

Voltage range: 30V～60V

Capacity: 720Wh (48V15Ah)

Charger input: 220VAC 300W, charging current: 5A

Environment place

No dust, no corrosive gas, no flammable gas

Temperature operation: 0℃～40℃, charging: 10℃～35℃, storage: -10℃～40℃

Humidity: 20%～80% RH (no condensation)