Awesome
<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a> T07
T07 is a wheeled mobile outdoor robotics platform.
Repositories
- t07_robot: ROS control code for T07 robot.
- t07_docker: Dockerfile and scripts to run T07 control software on Pika Spark.
- t07_teleop: Keyboard based teleoperation for the T07 mobile outdoor robot.
3D-Renderings
<p align="center"> <img src="docs/images/T07_rendering.png" width="40%"> </p> <p align="center"> <img src="docs/images/T07_rendering_front.png" width="40%"> </p> <p align="center"> <img src="docs/images/T07_rendering_electronics.png" width="40%"> </p> <p align="center"> <img src="docs/images/T07_rendering_mandeye_controller.png" width="40%"> </p>Introduction
The T07 is an outdoor robotics platform intended for participation in contests like Robotem Rovne, Roboorienteering or Robotour but also for general robotic experiments.
There is also a mounting option for the mandeye-controller.
Special configurations
T07 4WD
<p align="center"> <img src="docs/images/T07_4WD_rendering.png" width="40%"> </p>T07 low profile
<p align="center"> <img src="docs/images/T07_low_profile_rendering.png" width="40%"> </p> <p align="center"> <img src="docs/images/T07_low_profile_rendering_side.png" width="40%"> </p>Dimensions
The chassis is 40 cm long and 20 cm wide.
The whole robot with ultrasonic sensors is depending on the wheels about 45 cm long and 35 cm wide. The weight is about 1.5 kg.
Motor shaft and wheel dimension
There are 2 positions to mount the motor shaft.
| Motor shaft | Shaft to roller wheel base | Roller wheel height | Recommended wheel diameter |
|---|---|---|---|
| Upper position | 20 mm | 100 mm (70 mm diameter) | 160 mm |
| Lower position | 34 mm | 100 mm (70 mm diameter) | 132 mm |
| Lower position | 34 mm | 70 mm (50 mm diameter) | 72 mm |
Battery
This robot is designed to work with the Einhell Power X-Change system.
Assembly
Use flat M6 screw nuts (DIN 439, 3.2 mm high) for the assembly.
Additional required hardware
Motors
A motor with a gear ratio of about 1:100 should be ok.
Standard
- https://www.reichelt.de/getriebemotor-39-6-mm-75-1-12-v-dc-gm39-6-75-12v-p159644.html
- https://www.conrad.de/de/p/getriebemotor-12-v-modelcraft-rb350100-0a101r-1-100-227560.html
With encoder
- https://de.sainsmart.com/products/29-1-metal-gearmotor-365rpm-37dx52l-mm-with-64-cpr-encoder-12v
- https://eu.robotshop.com/de/products/12v-58rpm-60-1-gear-motor-encoder
- https://eu.robotshop.com/de/products/12v-26rpm-1201-gear-motor-w-encoder
Wheels
please pay attention to get the right wheel adapter
132 mm
160 mm
70 mm
Wheel Adapter
- https://www.pololu.com/product/2687
- https://eckstein-shop.de/Pololu-12mm-Hex-Wheel-Adapter-for-6mm-Shaft-Extended-2-Pack
Roller wheel
100 mm height (70 mm diameter)
- https://www.pollin.de/p/laufrolle-441614
- https://radundrolle.de/seiten/Lenkrollen/Vollgummi-Lenkrolle_080.htm
70 mm height (50 mm diameter)
On/off Switch
Emergency Switch
- https://www.reichelt.de/not-aus-schalter-yw-40-mm-2-nc-id-yw1bv4e02r-p234555.html
- https://www.conrad.de/de/p/idec-yw1b-v4e01r-not-aus-schalter-240-v-ac-6-a-1-oeffner-1-st-700792.html
- https://www.conrad.de/de/p/deca-a20b-v4e11r-not-aus-schalter-mit-kontaktelement-240-v-ac-6-a-1-schliesser-1-oeffner-ip65-1-st-1233793.html
Electronics and firmware
There are mounting holes for a Raspberry Pi or a Pika Spark on the controller standoff.
CyphalRobotController07/CAN is the main controller board.
License
This hardware is licensed under the Creative Commons licence CC-BY-SA 4.0