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Hardware Setup

Main Components

Part List

TurtleBot3 has two different models: Burger, Waffle and Waffle Pi. The following list shows their components. The big differences between two models are the Motor, the SBC(Single Board Computer) and the Sensors.

Chassis Parts

Part Name Burger Waffle Waffle Pi
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
Camera Bracket 0 0 1

Motor

Part Name Burger Waffle Waffle Pi
DYNAMIXEL (XL430-W250-T) 2 0 0
DYNAMIXEL (XM430-W210-T) 0 2 2

Board

Part Name Burger Waffle Waffle Pi
OpenCR1.0 1 1 1
Raspberry Pi 3 1 0 1
Intel® Joule™ 0 1 0
USB2LDS 1 1 1

Remote Controller

Part Name Burger Waffle Waffle Pi
BT-410 Set (Bluetooth 4, BLE) 0 0 2
RC-100B (Remote Controller) 0 0 1

Sensor

Part Name Burger Waffle Waffle Pi
LDS (HLS-LFCD2) 1 1 1
Intel® Realsense™ R200 0 1 0
Raspberry Pi Camera Module v2.1 0 0 1

Memory

Part Name Burger Waffle Waffle Pi
MicroSD Card 1 0 1

Cable

Part Name Burger Waffle Waffle Pi
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

Power

Part Name Burger Waffle Waffle Pi
SMPS 12V5A 1 1 1
A/C Cord 1 1 1
LIPO Battery 11.1V 1,800mAh 1 1 1
LIPO Battery Charger 1 1 1

Tools

Part Name Burger Waffle Waffle Pi
Screw driver 1 1 1
Rivet tool 1 1 1
USB3.0 HUB 0 1 0

Miscellaneous

Part Name Burger Waffle Waffle Pi
PH_M2x4mm_K 8 8 8
PH_T2x6mm_K 4 8 8
PH_M2x12mm_K 0 4 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
Rivet_2 2 2 2
Spacer 4 4 4
Silicone Spacer 0 0 4
Bracket 5 8 6
Adapter Plate 1 1 1

Assembly Manual

TurtleBots3 is delivered as unassembled parts in the boxes. Follow the instructions to assemble TurtleBot3.

Assembly Video

If it is difficult to assemble with the assembly manual, please refer to the following assembly video.

TurtleBot3 Burger

TurtleBot3 Waffle

Open Source Hardware

Core components of Turtlebot3 are the followings: Chassis, Motors, Wheels, OpenCR1.0, SBC Computer, Sensor and Battery. The chassis are Waffle Plates that holds other components. The Waffle Plate plays an important role as a chassis although its size is as small as your palm. Waffle plate is manufactured with injection mold method to lower the manufacturing cost. However, the CAD data of waffle plate for 3D printing is also available via Onshape. Turtlebot3 Burger is a Two-wheeled differential drive type platform, but it is customizable structurally and mechanically in many ways: Cars, Bikes, Trailers and so on.

The CAD data is released to the Onshape, which is a full-cloud 3D CAD editor. Get access through a web browser from your PC or from portable devices. OnShape allows drawing and assemblying parts with co-workers.