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Hardware overview

Robot Image

Mobility and Manipulation

A modified EAI Dashgo B1 robot was used for mobility purposes, and a uFactory xArm 6 was added for manipulation tasks and to mount the depth camera.

Components

Base

  • Chassis with a differential wheel configuration.
  • Motors with encoders for odometry purposes.

Computers

  • Jetson Xavier AGX: Handles manipulation and vision tasks.
  • Jetson Nano: Manages movement and sensor processing via a local Ethernet network.

Batteries

  • 24V Batteries: Powers the xArm 6, Dashgo, and Jetson Nano.
  • 14.8V Battery: Powers the Jetson Xavier.

Arm

  • Manipulator: uFactory xArm 6.
  • Gripper: Universal custom gripper, interchangeable with:
  • Parallel gripper.
  • High-precision gripper for small objects.
  • High-strength gripper using a stepper motor.

Vision

  • Camera: Stereolabs ZED2 attached to the xArm's end effector (EOF), transmits vision data via USB to the Jetson Xavier.

Human-Robot Interaction (HRI)

  • Microphone: Seed Studio ReSpeaker Microphone Array.
  • Speaker: Logitech X100 Wireless Portable Speaker.
  • Display: HDMI LCD touchscreen display.
  • Lidar: RP Lidar A1.

Base Cover

  • Custom sheet metal structure for passive heat dissipation.

Physical Specifications

  • Height: 186 cm (fully extended).
  • Width: 42 cm.
  • Weight: 37 kg.

Additional Devices

  • Power Indicators: For the xArm 6 and Jetson Xavier batteries.
  • 5V Ethernet Switch: Enables local data transmission.
  • Emergency Stop Devices: Independent for Jetson Xavier, xArm controller, and Dashgo.
  • Customized Gripper Controller.