The Robot

The CRUMB robot is a Turtlebot 2 equipped with a Widow X arm, provided by Robotnik. TurtleBot is a low-cost, personal robot kit with open-source software for education and research.

 

20150916_182330

Turtlebot 2 components are:

  • Kobuki base
  • Turtlebot structure
  • Kinect
  • Netbook (running ROS)

Netbook Specifications

datosnetbook

  • The CPU is an Intel Celeron.
  • The version of ROS installed is Indigo.
  • The OS installed is Ubuntu Trusty 14.04.
  • The result of “cpuinfo” is:
    processor : 0
    vendor_id : GenuineIntel
    cpu family : 6
    model : 55
    model name : Intel(R) Celeron(R) CPU N2840 @ 2.16GHz
    stepping : 8
    microcode : 0x815
    cpu MHz : 2159.000
    cache size : 1024 KB
    physical id : 0
    siblings : 2
    core id : 0
    cpu cores : 2
    apicid : 0
    initial apicid : 0
    fpu : yes
    fpu_exception : yes
    cpuid level : 11
    wp : yes
    flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 movbe popcnt tsc_deadline_timer rdrand lahf_lm 3dnowprefetch ida arat epb dtherm tpr_shadow vnmi flexpriority ept vpid tsc_adjust smep erms
    bogomips : 4333.50
    clflush size : 64
    cache_alignment : 64
    address sizes : 36 bits physical, 48 bits virtual
    power management:

    processor : 1
    vendor_id : GenuineIntel
    cpu family : 6
    model : 55
    model name : Intel(R) Celeron(R) CPU N2840 @ 2.16GHz
    stepping : 8
    microcode : 0x815
    cpu MHz : 2159.000
    cache size : 1024 KB
    physical id : 0
    siblings : 2
    core id : 1
    cpu cores : 2
    apicid : 2
    initial apicid : 2
    fpu : yes
    fpu_exception : yes
    cpuid level : 11
    wp : yes
    flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 movbe popcnt tsc_deadline_timer rdrand lahf_lm 3dnowprefetch ida arat epb dtherm tpr_shadow vnmi flexpriority ept vpid tsc_adjust smep erms
    bogomips : 4333.50
    clflush size : 64
    cache_alignment : 64
    address sizes : 36 bits physical, 48 bits virtual
    power management:

Turtlebot 2 Specifications

  • Dimensions: 31,5 x 43 x 34,7 cm
  • Weight: 5 Kg

front

side

top

Kobuki Base Specifications

kobuki

Functional Specifications

  • Maximum translational velocity: 70 cm/s
  • Maximum rotational velocity: 180 deg/s
  • Payload: 5 kg (hard floor), 4 kg (carpet)
  • Cliff: will not drive off a cliff with a depth greater than 5cm
  • Threshold Climbing: climbs thresholds of 12 mm or lower
  • Rug Climbing: climbs rugs of 12 mm or lower
  • Expected Operating Time: 3/7 hours (small/large battery)
  • Expected Charging Time: 1.5/2.6 hours (small/large battery)
  • Docking: within a 2m x 5m area in front of the docking station

Hardware Specifications

  • PC Connection: USB or via RX/TX pins on the parallel port
  • Motor Overload Detection: disables power on detecting high current (>3A)
  • Odometry: 52 ticks/enc rev, 2578.33 ticks/wheel rev, 11.7 ticks/mm
  • Gyro: factory calibrated, 1 axis (110 deg/s)
  • Bumpers: left, center, right
  • Cliff sensors: left, center, right
  • Wheel drop sensor: left, right
  • Power connectors: 5V/1A, 12V/1.5A, 12V/5A
  • Expansion pins: 3.3V/1A, 5V/1A, 4 x analog in, 4 x digital in, 4 x digital out
  • Audio : several programmable beep sequences
  • Programmable LED: 2 x two-coloured LED
  • State LED: 1 x two coloured LED [Green – high, Orange – low, Green & Blinking – charging]
  • Buttons: 3 x touch buttons
  • Battery: Lithium-Ion, 14.8V, 2200 mAh (4S1P – small), 4400 mAh (4S2P – large)
  • Firmware upgradeable: via usb
  • Sensor Data Rate: 50Hz
  • Recharging Adapter: Input: 100-240V AC, 50/60Hz, 1.5A max; Output: 19V DC, 3.16A
  • Netbook recharging connector (only enabled when robot is recharging): 19V/2.1A DC
  • Docking IR Receiver: left, centre, right
  • Diameter : 351.5mm / Height : 124.8mm / Weight : 2.35kg (4S1P – small)

 

WidowX arm Specifications

widowx

 

  • Weight: 1400 g
  • Vertical Reach: 55 cm
  • Horizontal Reach: 41 cm
  • Strength (no rotate):
    • 30 cm -> 400 g
    • 20 cm -> 600 g
    • 10 cm -> 800 g
  • Gripper strength: 500 g Holding
  • Wrist Lift Strength: 400 g
  • Servos:
    • 2x MX-64 Dynamixel Actuators
    • 2x MX-28 Dynamixel Actuators
    • 2x AX-12A Dynamixel Actuators
  • Arbotix Robocontroller:
    • ATMega644p Microprocessor
    • 8 Analog & 8 Digital IOs
    • Physical, Xbee Wireless, & USB/TTL Serial control options
    • Arduino IDE compatible
    • Custom firmware capable
    • ROS Ready