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ros-ukraine / leobot

LeoBot telepresence robot
MIT License
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Create URDF for Leobot 2.0 #110

Closed AndriyPt closed 6 years ago

AndriyPt commented 6 years ago

Robot body 2D drawings Mass of the body is about 10kg. Wheel will be connected on the bottom of the robot

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Specifications of the wheels: Number of wheels:4 Diameter of each wheel:100mm Width of each wheel:50m Number of Rollers each wheel:9 Number of Plates each wheel:2 Roller Bearing:Ball bearing Body material:Aluminium alloy Roller material:PP+PE Spacer material:Nylon Length of roller:19mm Net weight:400g X 4

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LyubomyrD commented 6 years ago

@MaxZhaloba I assigned, as we agreed, to help You with this issue

MaxZhaloba commented 6 years ago

Thanks :) I've already started reading turtorials and watching a video presentation on this.

If you have this info, feel free to add the requirements for desired look of Leobot 2.0 e.g. size and should it use a 4-wheeled mecanum base? I'll begin with something very simple and improve it as I learn.

AndriyPt commented 6 years ago

Link to Tutorials https://github.com/ros-ukraine/leobot/wiki/FAQ#tutorials-on-urdf

LyubomyrD commented 6 years ago

@AndriyPt What is the width of aluminum profile?

LyubomyrD commented 6 years ago

@ros-ukraine/leobot , please, have a look at the CAD model of the Leobot 2.0 equipped with LIDAR and two cameras Leobot.PDF

AndriyPt commented 6 years ago

@LyubomyrD aluminium profile is MS40+ В - 40x40

AndriyPt commented 6 years ago

@LyubomyrD this is what I got in my PDF viewer image

LyubomyrD commented 6 years ago

@AndriyPt try to use Adobe Reader

LyubomyrD commented 6 years ago

This is what I am getting

leobot

LyubomyrD commented 6 years ago

@AndriyPt please, have a look at the model on GrabCAD https://grabcad.com/library/leobot-2-0-1

MaxZhaloba commented 6 years ago

@LyubomyrD, I've measured the sizes of the base in PDF file and they appear to be different from the sizes specified by @AndriyPt in drawing above.

Comparison of sizes, in mm:

Dimension PDF size Drawing size
Base width 460 500
Base depth 500 500
Base height 260 300
Mount height 1430 1450
Mount offset 290 290

Which values should we take?

LyubomyrD commented 6 years ago

@MaxZhaloba great that You spotted this out! Thank You. Let us follow the original drawings of @AndriyPt

Since we do not use the CAD model of the body at this stage, I think we have to focus on more urgent tasks. I will be able to update the size of the Leobot later.