Mechanical Properties --------------------- .. _mpo-500-dimensions: Dimensions ********** .. figure:: mpo_500_dimensions.PNG 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. .. figure:: mpo_500_coordinate_system.PNG Coordinate system of MPO-500 .. figure:: mpo_500_sensor_positions.png 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 :ref:`connectors`.