Mechanical Properties --------------------- .. _rox-dimensions: Dimensions ********** Common Dimensions of all Models +++++++++++++++++++++++++++++++ ============================================= ========= ========== Description Symbol Value (mm) ============================================= ========= ========== Ground clearance of the cover H1 30 Height of the scan plane H2 190 Height of the emergency stop buttons H3 251.5 Height of the top plate H4 330 Height of the aluminium profiles H5 360 Width of the aluminium profiles W1 634 Width of the cover W3 680 Centre distance of the outer profiles L5 166 ============================================= ========= ========== Common Dimensions of all Short Models (Diff, Trike, Argo) +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ ============================================= ========= ========== Description Symbol Value (mm) ============================================= ========= ========== Overall length L1 811 Length of the cover L2 740 Centre distance of the inner profiles L4 298 ============================================= ========= ========== Common Dimensions of all Long Models (Meca, Dual Battery Platforms) +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ ================================================= =========== ========== Description Symbol Value (mm) ================================================= =========== ========== Overall length L1 1071 Length of the cover L2 1000 Centre distance of the inner profiles L4 585 ================================================= =========== ========== Dimensions of the ROX-Diff ++++++++++++++++++++++++++ .. image:: dimensions-diff.png ============================================================= ========= ========== Description Symbol Value (mm) ============================================================= ========= ========== Distance of the front castor wheel to the platform centre L3.1 188.5 Distance of the rear castor wheel to the platform centre L3.2 278.5 Track width of the drive wheels W2.1 585 Track width of the castor wheels W2.2 452 Width of the drive wheels B1 30 Width of the castor wheels B2 70 Diameter of the drive wheels D1 150 Diameter of the castor wheels D2 80 ============================================================= ========= ========== Dimensions of the ROX-Trike +++++++++++++++++++++++++++ .. image:: dimensions-trike.png ============================================================= ========= ========== Description Symbol Value (mm) ============================================================= ========= ========== Distance of the drive wheels to the platform centre L3.1 243.5 Distance of the castor wheel to the platform centre L3.2 278.5 Track width of the drive wheels W2 595.5 Width of the drive wheels B1 30 Width of the castor wheels B2 70 Diameter of the drive wheels D1 150 Diameter of the castor wheels D2 80 ============================================================= ========= ========== Dimensions of the ROX-Argo ++++++++++++++++++++++++++ .. image:: dimensions-argo.png ============================================================= ========= ========== Description Symbol Value (mm) ============================================================= ========= ========== Distance of the drive wheels to the platform centre L3 233.5 Ground clearance of the wheel carrier assembly H6 21 Track width of the drive wheels W2 476 Width of the drive wheels B 40 Diameter of the drive wheels D 100 ============================================================= ========= ========== Dimensions of the ROX-Meca ++++++++++++++++++++++++++ .. image:: dimensions-meca.png ============================================================= ========= ========== Description Symbol Value (mm) ============================================================= ========= ========== Distance of the drive wheels to the platform centre L3 256 Track width of the drive wheels W2 449.5 Width of the drive wheels B 105 Diameter of the drive wheels D 203.2 ============================================================= ========= ========== Absolute Maximum Ratings ************************ .. warning:: Exceeding these ratings might cause malfunctions or damage the robot! Common Maximum Ratings of all Models ++++++++++++++++++++++++++++++++++++ ============================================================= ========= ========== Description Unit Value ============================================================= ========= ========== Storage temperature °C -20 .. +50 Operating temperature (environmental temperature) °C 0 .. +30 ============================================================= ========= ========== Maximum Ratings of the ROX-Diff +++++++++++++++++++++++++++++++ ============================================================= ========= ========== Description Unit Value ============================================================= ========= ========== Payload kg 300 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 Ratings of the ROX-Trike ++++++++++++++++++++++++++++++++ ============================================================= ========= ========== Description Unit Value ============================================================= ========= ========== Payload kg 300 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 Ratings of the ROX-Argo +++++++++++++++++++++++++++++++ ============================================================= ========= ========== Description Unit Value ============================================================= ========= ========== Payload kg 500 Maximum speed m/s 2.0 Maximum bumpiness to pass over (≤ 0.25m/s) mm 10 Maximum bumpiness to pass over (full speed) mm 5 ============================================================= ========= ========== Maximum Ratings of the ROX-Meca +++++++++++++++++++++++++++++++ ============================================================= ========= ========== Description Unit Value ============================================================= ========= ========== Payload kg 400 Maximum speed m/s 2.0 Maximum bumpiness to pass over (≤ 0.25m/s) mm 10 Maximum bumpiness to pass over (full speed) mm 5 ============================================================= ========= ========== 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. "Short" indicates to the default values of the Diff, Trike and Argo models, "long" indicates to the default values of the Meca model. .. image:: sensor-positions.png ============================ ============== ============= ====== ====== ======= Sensor X-Pos. "short" X-Pos. "long" Y-Pos. Z-Pos. Angle a ============================ ============== ============= ====== ====== ======= Laser scanner front left 299 429 269 190 45 Laser scanner rear right -299 -429 -269 190 225 ============================ ============== ============= ====== ====== ======= Electrical Properties and Miscellaneous Data ******************************************** Properties of Internal Components +++++++++++++++++++++++++++++++++ =========================================== =============== ===== Description Unit Value =========================================== =============== ===== Encoder resolution of the motors Incr. / Rev. 4096 Nominal battery voltage V 48 Maximum battery voltage V 57.6 C5-Capacity of AGM batteries Ah 26 Nominal capacity of LiFePO4 batteries Ah 21 Weight of an AGM battery pack kg 37 Weight of an LFP battery pack kg 14 =========================================== =============== ===== Other Properties ++++++++++++++++ ========================== ====== ===== Description Unit Value ========================== ====== ===== Weight of the ROX-Diff kg Weight of the ROX-Trike kg Weight of the ROX-Argo kg Weight of the ROX-Meca kg Expected working time a 10 Intrusion protection IP 12 ========================== ====== ===== Connecting Additional Devices ***************************** Various optional components can be connected to the central control board (RelayBoard) and other devices can be powered by it. It also offers connection options for four buttons, four digital inputs (24 V) and four solid state relay outputs. A small number of free connection points is also available on the internal terminal blocks. If required, additional terminal blocks, connectors, voltage transformers and other connections can be integrated. Further information and technical data are available on request. Further information on the connectors used can be found at :ref:`connectors`.