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Specifications

Hardware Specifications

Items Burger Waffle
Maximum translational velocity 0.22 m/s 0.26 m/s
Maximum rotational velocity 2.84 rad/s (162.72 deg/s) 1.82 rad/s (104.27 deg/s)
Maximum payload 15kg 30kg
Size (L x W x H) 138mm x 178mm x 192mm 281mm x 306mm x 141mm
Weight (+ SBC + Battery + Sensors) 1kg 1.8kg
Threshold of climbing <td colspan=2> 10 mm or lower </td>  
Expected operating time 2h 30m 2h
Expected charging time <td colspan=2> 2h 30m </td>  
MCU <td colspan=2> 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS)</td>  
IMU <td colspan=2> Gyroscope 3 Axis
Accelerometer 3 Axis
Magnetometer 3 Axis</td>
 
Power connectors <td colspan=2> 3.3V / 800mA
5V / 4A
12V / 1A</td>
 
Expansion pins <td colspan=2> GPIO 18 pins
Arduino 32 pin</td>
 
Peripheral <td colspan=2> UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4</td>  
Dynamixel ports <td colspan=2> RS485 x 3, TTL x 3</td>  
Audio <td colspan=2> Several programmable beep sequences</td>  
Programmable LEDs <td colspan=2> User LED x 4</td>  
Status LEDs <td colspan=2> Board status LED x 1
Arduino LED x 1
Power LED x 1</td>
 
Buttons and Switches <td colspan=2> Push buttons x 2, Reset button x 1, Dip switch x 2</td>  
Battery <td colspan=2> Lithium polymer 11.1V 1800mAh / 19.98Wh 5C</td>  
PC connection <td colspan=2> USB</td>  
Firmware upgrade <td colspan=2> via USB / via JTAG</td>  
Power adapter (SMPS) <td colspan=2> Input : 100-240V, AC 50/60Hz, 1.5A @max
Output : 12V DC, 5A</td>
 

Dimension and Mass

Data of TurtleBot3 Burger

Data of TurtleBot3 Waffle

Components

SBC

Raspberry Pi 3 Model B : https://www.raspberrypi.org/products/raspberry-pi-3-model-b/

Intel® Joule™ : http://ark.intel.com/products/96414/Intel-Joule-570x-Developer-Kit

Sensor

360 Laser Distance Sensor LDS-01 : http://turtlebot3.robotis.com/en/latest/appendix_lds.html

Intel® Realsense™ R200 : https://software.intel.com/en-us/RealSense/R200Camera

Control Board

OpenCR1.0 : http://turtlebot3.robotis.com/en/latest/appendix_opencr.html

Actuator

Dynamixel X series : http://en.robotis.com/index/product.php?cate_code=10121110