Mechanical specifications
- Payload: 125 kg
- Weight: 5kg
- Weight to payload ratio: 1:25
- Material: aluminum (frame), stainless steel (axis)
Geometric specifications
- Diameter of footprint: 250 mm
- Height: 298 mm
- Diameter of single wheel: 198 mm
- Ground clearance of wheel (axis): 75 mm
Specification drive system
- Kinematics: differentially driven twin-wheels
- Wheels: 2 x 8 inch rubber wheel
- Motors: 2 x 24 V direct drive hub motors
- Gearbox: direct drive
- Torque: 30 Nm
- Back-drivability: high (direct drive)
- Noise emission: low (no gears!)
Electrical specifications
- Voltage: 24 V / 36 V
- Current: 20 A (continuous) / 50 A (30 sec. peak)
- kV: RPM/V (24 V = 20 − 22 km/h)
- Efficiency: 80%
Sensors
- Encoder: 3 x 19 bit optical encoders (2 per wheel, 1 for yaw axis)
- Current: Power input, motor phase
- Voltage: Power input
- IMU: 6 DOF, 2000 deg/second, max 8 G, update rate 2kHZ
Interface
- Physical: Power XT60, Communication M8
- Protocol: EtherCAT up to 40 kHz