Mechanical Properties¶
Dimensions¶
Dimensions of the MPO-500
| Description | Symbol | Value (mm) |
|---|---|---|
| Wheel diameter | D | 254 |
| Ground clearance | G | 45 |
| Height of the mounting plane | H1 | 386 |
| Height of the scanner cover | H2 | 409 |
| Overall length of platform | L1 | 988 |
| Length of inner aluminium profiles | L2 | 680 |
| Length of outer aluminium profiles | L3 | 380 |
| Distance from platform centre to wheel axes | L4 | 250 |
| Maximum length to platform centre | L5 | 494 |
| Width of top plate | W1 | 500 |
| Distance from platform centre to outer aluminium profiles | W2 | 219 |
| Distance from platform centre to inner aluminium profiles | W3 | 73 |
| Track width | W4 | 548 |
| Maximum width | W5 | 662 |
| Size of aluminium profiles | P | 30 |
Absolute Maximum Ratings¶
Warning
Exceeding these ratings might cause malfunctions or damage the robot!
| Description | Units | Value |
|---|---|---|
| Storage temperature | °C | -20 .. +50 |
| Operating temperature (environmental temperature) | °C | +0 .. +25 |
| Payload (equally distributed to aluminium profiles, default version) | kg | 80 |
| Payload (equally distributed to aluminium profiles, high payload version) | kg | 250 |
| Maximum speed | m/s | 0.9 |
| Maximum bumpiness to pass over | mm | 5 |
| Maximum acceleration | m/s² | 2.4 |
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 MPO-500
Positions of the laser scanners
| Sensor | Symbol | X-pos. | Y-pos. | Z-pos. | a-angle | b-angle |
|---|---|---|---|---|---|---|
| Front laser scanner | LS1 | 442 | 0 | 372 | 0 | 0 |
| Rear laser scanner | LS2 | -442 | 0 | 372 | 0 | 180 |
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 | 1.91 |
| Brake torque (static) | Nm | 1.47 |
| Encoder resolution | Increments/Revolution | 10000 |
| Gear ratio | 1 | 25:1 |
| 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 |
| Ultrasonic sensors | ~±0.01 m | 0.25 | 1.5 | ±60 | ±30 |
Other Properties¶
| Description | Units | Value |
|---|---|---|
| Weight | kg | 80 |
| Expected working time | a | 10 |
Connectors¶
See chapter Connectors.