Turtlebot3.md

@@ -12,9 +12,9 @@ Turtlebot3 burger is the smallest turtlebot3 mobile robot. It is composed of 2 D
 
 + Max translational speed: 0,22 m/s
 + Max rotational speed: 162,72°/s
-+ Max payload: 15 kg
++ Max payload: 15kg
 + Size: 138 × 178 × 192 mm
-+ Weight: 995 g
++ Weight: 995g
 + Autonomy: 2h30 (Lithium Polymer Battery 11,1 V 1800 mAh/19.98 Wh 5C)
   + Input: 100-240 V, 50/60 Hz CA, 1,5 A @ max
   + Output: 12 Vcc, 5 A 
@@ -59,7 +59,34 @@ Also the TurtleBot3 can be used as a mobile manipulator capable of manipulating
 
 <img src="./images/turtlebot3-waffle1.jpg" width="300" height="350">
 
-## Specification
+## Mobile part Specification
+
++ Max translational speed: 0,26 m/s
++ Max rotational speed: 104,27°/s
++ 2 servomotors Dynamixel XM430-W210-T
++ Max payload: 30kg
++ Size:  281 x 306 x 141 mm
++ Weight: 1,8g 
++ Autonomy: 2h (Lithium Polymer Battery 11,1 V 1800 mAh/19.98 Wh 5C)
+  + Input: 100-240 V, 50/60 Hz CA, 1,5 A @ max
+  + Output: 12 Vcc, 5 A 
++ 3-axis gyroscope
++ 3-axis accelerometer
++ 3-axis magnetometer
++ 360° LiDAR
++ Raspberry Pi Camera
+
+## Arm part Specification (OpenManipulator RM-X52 TNM)
+
++ 5xServomotors: Dynamixel XM430-W350-T x 5
++ Power: 12V
++ Degrees of freedom: 5 (4 for arm, 1 for gripper)
++ Max payload: 500g
++ Rotation speed: 46rpm
++ 1xgripper with openning between 20 to 75mm
++ Communication: TTL with Multi Drop bus
++ Weight: 700g
++ Range: 380mm
 
 ## getting started