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.