Mechanical Properties --------------------- Dimensions ********** .. figure:: mp_500_dimensions.PNG Dimensions of the MP-500 ===================================== ====== ========== Description Symbol Value (mm) ===================================== ====== ========== Diameter of drive wheels D 260 Width of drive wheel B 85 Ground clearance G 70 Height of platform H1 358 Height of scanner housing over ground H2 259 Overall length of platform L1 823 Distance to front end L2 296 Distance to tail end L3 527 Distance to front end of top plate L4 183 Distance to rear end of top plate L5 493 Widths of top plate W1 551 Maximum width W2 592 ===================================== ====== ========== Absolute Maximum Ratings ************************ .. warning:: Exceeding these ratings might cause malfunctions or damage the robot! ================================================= ===== ========== Description Units Value ================================================= ===== ========== Payload (on cargo space) kg 80 Maximum speed m/s 1.5 Maximum bumpiness to pass over (≤ 0.25m/s) mm 15 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_500_coordinate_system.PNG Coordinate system of MP-500 .. figure:: mp_500_scanner_positions.PNG Position of the laser scanner ==================== ====== ====== ====== ======= ======= ========= Sensor Symbol X-pos. Y-pos. Z-pos. a-angle b-angle ==================== ====== ====== ====== ======= ======= ========= Laser Scanner LS1 230 0 110 0 0 ==================== ====== ====== ====== ======= ======= ========= 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 Toothed belt ratio 1 1.5:1 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. Distances are measured in meters, angles are measured in degree. ================== ========== =========== ========== =========== =========== Sensor Resolution Min.range Max. range Hor. angle Vert. angle ================== ========== =========== ========== =========== =========== Laser scanner 0.5° 0 30 ±135 0 ================== ========== =========== ========== =========== =========== Other Properties ++++++++++++++++ ===================== ===== ===== Description Units Value ===================== ===== ===== Weight kg 70 Expected working time a 10 ===================== ===== ===== Connectors ++++++++++ See chapter :ref:`connectors`.