Mechanical, electrical, electronic.
Our approach to developing a new mobile platform for use in the RoboCup@Work league is to build a robot that is smaller and thus more agile than other competitors. In addition to building the system, we also aim for low maintenance costs.
The platform’s base construction is composed of a simple metal sheet structure combined with standard aluminum profiles. This design allows for easy replacement of the externally mounted 3D-printed sensor cases, facilitating faster evaluation of these components. To propel the base, four 65W BLDC motors with a 1:26 gearbox are employed, each connected to a mecanum wheel. The motor drivers are custom-developed electronics that are currently controlled using a USB protocol, but future plans include implementing CAN communication. The base is equipped with a Li-Ion accumulator as its power source, along with a self-developed voltage regulation and distribution board.
To facilitate manipulation tasks, we employ the Kinova Gen3-lite robot, which is lightweight and cost-effective, and features an integrated gripper. The compact size of the robot arm allows for seamless integration into the base platform.
The mobile base is outfitted with two off-the-shelf laser range finders (Hokuyo UST-LX10) positioned at the front and rear of the platform. These sensors have a detection range of up to ten meters, which is more than adequate for indoor applications. Additionally, an RGB-D camera (Intel RealSense D435i) is mounted on the manipulator’s wrist for object detection, classification, and barrier tape detection. In the future, time-of-flight sensors will be incorporated into the base to eliminate dead zones in the laser scanners.