Turtlebot3入门教程-规格
Turtlebot3入门教程-规格
说明：
- 介绍Turtlebot3规格
Turtlebot图：
规格
| Items | Burger | Waffle (Discontinued) | Waffle Pi |
|---|---|---|---|
| Maximum translational velocit最大直行速度 | 0.22 m/s | 0.26 m/s | 0.26 m/s |
| Maximum rotational velocity最大旋转速度 | 2.84 rad/s (162.72 deg/s) | 1.82 rad/s (104.27 deg/s) | 1.82 rad/s (104.27 deg/s) |
| Maximum payload最大负载 | 15kg | 30kg | 30kg |
| Size (L x W x H) 尺寸 长宽高 | 138mm x 178mm x 192mm | 281mm x 306mm x 141mm | 281mm x 306mm x 141mm |
| Weight (+ SBC + Battery + Sensors)总重量 | 1kg | 1.8kg | 1.8kg |
| Threshold of climbing爬坡高度 | 10 mm or lower | 10 mm or lower | 10 mm or lower |
| Expected operating time续航时间 | 2h 30m | 2h | 2h |
| Expected charging time充电时间 | 2h 30m | 2h 30m | 2h 30m |
| SBC (Single Board Computers)板载计算机 | Raspberry Pi 3 Model B | Intel® Joule™ 570x | Raspberry Pi 3 Model B |
| MCU | 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) | 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) | 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) |
| Remote Controller远程控制 | - | - | RC-100B + BT-410 Set (Bluetooth 4, BLE) |
| Actuator舵机型号 | Dynamixel XL430-W250 | Dynamixel XM430-W210 | Dynamixel XM430-W210 |
| LDS(Laser Distance Sensor)雷达 | 360 Laser Distance Sensor LDS-01 | 360 Laser Distance Sensor LDS-01 | 360 Laser Distance Sensor LDS-01 |
| Camera相机 | - | Intel® Realsense™ R200 | Raspberry Pi Camera Module v2.1 |
| IMU | Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis |
Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis |
Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis |
| Power connectors扩展电源 | 3.3V / 800mA 5V / 4A 12V / 1A |
3.3V / 800mA 5V / 4A 12V / 1A |
3.3V / 800mA 5V / 4A 12V / 1A |
| Expansion pins扩展插脚 | GPIO 18 pins Arduino 32 pin |
GPIO 18 pins Arduino 32 pin |
GPIO 18 pins Arduino 32 pin |
| Peripheral外围设备 | UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4 | UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4 | UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4 |
| Dynamixel ports扩展端口 | RS485 x 3, TTL x 3 | RS485 x 3, TTL x 3 | RS485 x 3, TTL x 3 |
| Audio声音 | Several programmable beep sequences | Several programmable beep sequences | Several programmable beep sequences |
| Programmable LEDs可编程LED | User LED x 4 | User LED x 4 | User LED x 4 |
| Status LEDs状态灯 | Board status LED x 1 Arduino LED x 1 Power LED x 1 |
Board status LED x 1 Arduino LED x 1 Power LED x 1 |
Board status LED x 1 Arduino LED x 1 Power LED x 1 |
| Buttons and Switches按钮开关 | Push buttons x 2, Reset button x 1, Dip switch x 2 | Push buttons x 2, Reset button x 1, Dip switch x 2 | Push buttons x 2, Reset button x 1, Dip switch x 2 |
| Battery电池 | Lithium polymer 11.1V 1800mAh / 19.98Wh 5C | Lithium polymer 11.1V 1800mAh / 19.98Wh 5C | Lithium polymer 11.1V 1800mAh / 19.98Wh 5C |
| PC connection连接类型 | USB | USB | USB |
| Firmware upgrade固件升级 | via USB / via JTAG | via USB / via JTAG | via USB / via JTAG |
| Power adapter (SMPS)适配器 | Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A |
Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A |
Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A |
尺寸
- 尺寸数据（基本）
- 尺寸数据（高级）
组件
SBC：
- Intel® Joule™ : http://ark.intel.com/products/96414/Intel-Joule-570x-Developer-Kit
- Raspberry Pi 3 Model B : https://www.raspberrypi.org/products/raspberry-pi-3-model-b/
传感器：
- Laser Distance Sensor : http://www.ncnynl.com/archives/201702/1402.html
- Intel® Realsense™ R200 : https://software.intel.com/en-us/RealSense/R200Camera
控制板
执行器
- Dynamixel X series : http://en.robotis.com/index/product.php?cate_code=10121110
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