Mechanical Properties --------------------- Dimensions ********** .. figure:: MP-400_dimensions.png Dimensions of the MP-400 ======================================== ====== ========== Description Symbol Value (mm) ======================================== ====== ========== Diameter of drive wheels D 150 Width of drive wheels B 30 Ground clearance G 44 Height of mounting profiles H1 411 Height of top plate H2 381 Overall length of platform L1 590 Centre distance of mounting profiles L2 280 Wheel base of the castor wheels L3 396 Maximum width W1 559 Width of mounting profiles and top plate W2 509 Track width of the castor wheels W3 316 Track width of the drive wheels W4 529 ======================================== ====== ========== Absolute Maximum Ratings ************************ .. warning:: Exceeding these ratings might cause malfunctions or damage the robot! ================================================= ===== ========== Description Units Value ================================================= ===== ========== Payload (on top plate, standard version) kg 100 Payload (on top plate, high payload version) kg 150 Maximum speed m/s 1.5 Maximum bumpiness to pass over (≤ 0.25m/s) mm 10 Maximum bumpiness to pass over (full speed) mm 5 Maximum acceleration m/s² 2.4 Storage temperature °C -20 .. +60 Operating temperature (environmental temperature) °C +0 .. +25 ================================================= ===== ========== Positions of Sensors ******************** All distances are in millimetres, measured relative to the platform's coordinate system. All angles are in degrees, measured counter-clockwise from the driving direction. .. figure:: MP-400_coordinate_systems.png Coordinate system of MP-400 .. figure:: MP-400_sensor_positions.png Sensor positions at the MP-400 ==================== ====== ====== ====== ======= ======= ========= Sensor Symbol X-pos. Y-pos. Z-pos. a-angle b-angle ==================== ====== ====== ====== ======= ======= ========= Front laser scanner LS1 230 0 110 0 0 Rear laser scanner LS2 -354 0 110 0 180 Ultrasonic sensor 1 US1 -266 157 280 0 150 Ultrasonic sensor 2 US2 -298 0 280 0 180 Ultrasonic sensor 3 US3 -266 -157 280 0 210 Ultrasonic sensor 9 US9 266 157 280 0 30 Ultrasonic sensor 10 US10 298 0 280 0 0 Ultrasonic sensor 11 US11 266 -157 280 0 330 ==================== ====== ====== ====== ======= ======= ========= Electrical Properties and Miscellaneous Data ******************************************** Properties of Internal Components +++++++++++++++++++++++++++++++++ All data are taken from the respective data sheets. ========================================= ===================== ======= Description Units Value ========================================= ===================== ======= Motor power W 300 Rated motor speed rpm 3000 Maximum motor speed rpm 5000 Possible motor speed (at battery voltage) rpm 1800 Rated motor torque Nm 0.95 Maximum motor torque Nm 2.85 Brake torque (static) Nm 1.47 Encoder resolution Increments/Revolution 10000 Gear ratio 1 8:1 Rated battery voltage V 24 Maximum unregulated voltage V 29 Battery capacity Ah 50 ========================================= ===================== ======= Metering Capacities of Sensors ++++++++++++++++++++++++++++++ All data are taken from the respective datasheets. ================== ========== =========== ========== =========== =========== Sensor Resolution Min.range Max. range Hor. angle Vert. angle ================== ========== =========== ========== =========== =========== Laser scanner 0.5 ° 0 m 30 m ±135 ° 0 ° Ultrasonic sensors ~±0.01 m 0.25 m 1.5 m ±60 ° ±30 ° ================== ========== =========== ========== =========== =========== Other Properties ++++++++++++++++ ===================== ===== ===== Description Units Value ===================== ===== ===== Weight kg 70 Expected working time a 10 ===================== ===== ===== Connectors ++++++++++ See :ref:`connectors`.