T07 is a wheeled mobile outdoor robotics platform.
- 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.
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.
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.
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 |
This robot is designed to work with the Einhell Power X-Change system.
Use flat M6 screw nuts (DIN 439, 3.2 mm high) for the assembly.
A motor with a gear ratio of about 1:100 should be ok.
- 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
- 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
please pay attention to get the right wheel adapter
- https://www.pololu.com/product/2687
- https://eckstein-shop.de/Pololu-12mm-Hex-Wheel-Adapter-for-6mm-Shaft-Extended-2-Pack
- https://www.pollin.de/p/laufrolle-441614
- https://radundrolle.de/seiten/Lenkrollen/Vollgummi-Lenkrolle_080.htm
- 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
There are mounting holes for a Raspberry Pi or a Pika Spark on the controller standoff.
CyphalRobotController07/CAN is the main controller board.
This hardware is licensed under the Creative Commons licence CC-BY-SA 4.0