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Mobile Robot - Technical Documentation

1. Project Overview
1.1 Description
This mobile robot is a complete FreeCAD construction for an autonomous, all-wheel-drive robot with mecanum wheels and attachable transport trailer. The design enables omnidirectional movement and is ideal for research, education, and industrial applications.
1.2 Key Features
• Omnidirectional Movement via 4x Mecanum wheels (8 inch)
• Trailer Coupling for transport wagon (modular system)
• Autonomous Navigation with 2x S300 laser scanners
• Robust Construction with square and round tubes
• 24V Drive System with gear motors (53rpm)
• Raspberry Pi 4 Control for advanced functionality
• Modular Design for easy customization
• Transport Solution for material handling and logistics

2. Technical Specifications
2.1 Mechanical Structure
• Base Frame: Square tube construction (1.5mm and 2mm wall thickness)
• Reinforcements: 3x round tubes 16mm
• Load Capacity: 100kg/wheel
2.2 Drive System
• Motors: 4x gear motor 24V, 53rpm
• Wheels: Nexus Mecanum 8 inch (4 pieces complete)
• Bearings: Needle bearings for low-friction operation
• Motor Control: 4x motor controller 1065 1b

2.3 Sensors and Navigation
• Laser Scanners: 2x S300 for 360° environment sensing
• Encoders: 4x HTK-22 for precise position determination
• Encoder Cables: 4x replacement cables HTK-22 included
2.4 Electronics and Control
• Main Computer: Raspberry Pi 4
• Storage: 2x SD cards 43GB
• Communication: Access Point for wireless connection
• Interfaces: 2x USB RS485 Adapter Delock
• Surge Protection: Integrated
2.5 Power Supply
• Main Battery: 2x 24V batteries
• Voltage Converter: 10A for various voltage levels
• Raspi Power Supply: Dedicated power supply with adapter
• Safety: Fuses (260658), emergency stop switch
• Control: Key switch (420664)

More informations needed? Do not hesitate to contact us via e-mail [email protected]