| ... | ... | @@ -59,7 +59,34 @@ Also the TurtleBot3 can be used as a mobile manipulator capable of manipulating |
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<img src="./images/turtlebot3-waffle1.jpg" width="300" height="350">
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## Specification
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## Mobile part Specification
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+ Max translational speed: 0,26 m/s
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+ Max rotational speed: 104,27°/s
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+ 2 servomotors Dynamixel XM430-W210-T
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+ Max payload: 30kg
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+ Size: 281 x 306 x 141 mm
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+ Weight: 1,8g
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+ Autonomy: 2h (Lithium Polymer Battery 11,1 V 1800 mAh/19.98 Wh 5C)
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+ Input: 100-240 V, 50/60 Hz CA, 1,5 A @ max
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+ Output: 12 Vcc, 5 A
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+ 3-axis gyroscope
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+ 3-axis accelerometer
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+ 3-axis magnetometer
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+ 360° LiDAR
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+ Raspberry Pi Camera
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## Arm part Specification (OpenManipulator RM-X52 TNM)
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+ 5xServomotors: Dynamixel XM430-W350-T x 5
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+ Power: 12V
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+ Degrees of freedom: 5 (4 for arm, 1 for gripper)
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+ Max payload: 500g
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+ Rotation speed: 46rpm
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+ 1xgripper with openning between 20 to 75mm
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+ Communication: TTL with Multi Drop bus
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+ Weight: 700g
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+ Range: 380mm
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## getting started
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