Mechanical Properties¶
Dimensions¶
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.
Coordinate system of MP-500
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 Connectors.