最快速度

0.22 m/s

0.26 m/s

0.26 m/s

最快回转速度

2.84 rad/s (162.72 deg/s)

1.82 rad/s (104.27 deg/s)

1.82 rad/s (104.27 deg/s)

最大负载

15kg

30kg

30kg

尺寸(L x W x H)

138mm x 178mm x 192mm

281mm x 306mm x 141mm

281mm x 306mm x 141mm

重量(含SBC + 电池 + 传感器)

1kg

1.8kg

1.8kg

爬坡极限

10 mm or lower

10 mm or lower

10 mm or lower

预期运行时长

2h 30m

2h

2h

预期充电时长

2h 30m

2h 30m

2h 30m

SBC (单板计算机)

Raspberry Pi 3 Model B

Intel® Joule™

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)

运程控制器

-

-

RC-100B + BT-410 Set (Bluetooth 4, BLE)

舵机

Dynamixel XL430-W250

Dynamixel XM430-W210

Dynamixel XM430-W210

LDS(激光传感器)

360 Laser Distance Sensor LDS-01

360 Laser Distance Sensor LDS-01

360 Laser Distance Sensor LDS-01

摄像头

-

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

电源接口

3.3V / 800mA
5V / 4A
12V / 1A

3.3V / 800mA
5V / 4A
12V / 1A

3.3V / 800mA
5V / 4A
12V / 1A

扩展针脚

GPIO 18 pins
Arduino 32 pin

GPIO 18 pins
Arduino 32 pin

GPIO 18 pins
Arduino 32 pin

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

舵机通讯端口

RS485 x 3, TTL x 3

RS485 x 3, TTL x 3

RS485 x 3, TTL x 3

音频

多个可编程beep序列

多个可编程beep序列

多个可编程beep序列

可编程 LED灯

User LED x 4

User LED x 4

User LED x 4

状态灯 LED

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

开关及按钮

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

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 连接方式

USB

USB

USB

固件更新

via USB / via JTAG

via USB / via JTAG

via USB / via JTAG

电源适配器 (SMPS)

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

   底盘

 Waffle-Plate

 8

 24

24

 Plate Support M3x35mm

 4

 12

12

 Plate Support M3x45mm

 10

 10

10

 PCB Support

 12

 12

12

 Wheel

 2

 2

2

 Tire

 2

 2

2

 Ball Caster

 1

 2

2

   舵机

 DYNAMIXEL (XL430-W250-T) 

 2

 0

0

 DYNAMIXEL (XM430-W210-T)

 0

 2

2

   板子

 OpenCR

 1

 1

1

 Raspberry Pi 3

 1

 0

1

 Raspberry Pi 3 Camera

0

0

1

 Intel® Joule™

 0

 1

0

 USB2LDS

 1

 1

1

   传感器

 HLS-LFCD2

 1

 1

1

 Intel® Realsense™ R200

 0

 1

0

存储

 MicroSD Card

 1

 0

0

线缆

 Raspberry Pi 3 Power Cable

 1

 0

1

 Intel® Joule™ Power Cable

 0

 1

0

 Li-Po Battery Extension Cable

 1

 1

1

 DYNAMIXEL to OpenCR Cable

 2

 2

2

 USB Cable

 2

 2

2

Camera Cable

0

0

1

RC-100B

0

0

1

BT-410

0

0

2

电源

 SMPS 12V5A

 1

 1

1

 A/C Code

 1

 1

1

 LIPO Battery 11.1V 1800mAh

 1

 1

1

工具

 Screw driver

 1

 1

1

  其他部分

 Rivet tool

 1

 1

1

 USB3.0 HUB

 0

 1

1

 LIPO Battery charger

 1

 1

1

 PH_M2x4mm_K

 8

 8

8

 PH_T2x6mm_K

 4

 8

8

 PH_M2x12mm_K

 0

 4

0

PH_M2x6mm_K

0

0

4

 PH_M2.5x8mm_K

 16

 12

16

 PH_M2.5x12mm_K

 0

 18

20

 PH_T2.6x12mm_K

 16

 0

0

 PH_M2.5x16mm_K

 4 

 4

4

 PH_M3x8mm_K

 44

 140

140

 NUT_M2

 0

 4

4

 NUT_M2.5

 20

 18

24

 NUT_M3

 16

 96

96

 Rivet_1

 14

 20

22

 Spacer

 4

 4

4

 Bracket

 5

 8

6

 Adapter Plate

 1

 1

1

 Rivet_2

 2

 2

2

Camera Bracket

0

0

1