4. Hardware Setup

_images/turtlebot3_models_rd2.png

4.1. Main Components

_images/turtlebot3_burger_components.png _images/turtlebot3_waffle_components.png

4.2. Part List

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

The number of the parts of each model Burger Waffle
Chasis Waffle-Plate 8 24
Plate Support M3x35mm 4 12
Plate Support M3x45mm 10 10
PCB Support 12 12
Wheel 2 2
Tire 2 2
Ball Caster 1 2
Motor DYNAMIXEL (XL430-W250-T) 2 0
DYNAMIXEL (XM430-W210-T) 0 2
Board OpenCR 1 1
Raspberry Pi 3 1 0
Intel® Joule™ 0 1
USB2LDS 1 1
Sensor HLS-LFCD2 1 1
Intel® Realsense™ R200 0 1
Memory MicroSD Card 1 0
Cable Raspberry Pi 3 Power Cable 1 0
Intel® Joule™ Power Cable 0 1
Li-Po Battery Extension Cable 1 1
DYNAMIXEL to OpenCR Cable 2 2
USB Cable 2 2
Power SMPS 12V5A 1 1
A/C Code 1 1
LIPO Battery 11.1V 1800mAh 1 1
Tool Screw driver 1 1
Rivet tool 1 1
USB3.0 HUB 0 1
LIPO Battery charger 1 1
Part PH_M2x4mm_K 8 8
PH_T2x6mm_K 4 8
PH_M2x12mm_K 0 4
PH_M2.5x8mm_K 16 12
PH_M2.5x12mm_K 0 18
PH_T2.6x12mm_K 16 0
PH_M2.5x16mm_K 4 4
PH_M3x8mm_K 44 140
NUT_M2 0 4
NUT_M2.5 20 18
NUT_M3 16 96
Rivet_1 14 20
Spacer 4 4
Bracket 5 8
Adapter Plate 1 1
Rivet_2 2 2

4.3. Assembly Manual

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

4.3.1. TurtleBot3 Burger

download:Assembly manual for TurtleBot3 Burger [PDF]

4.3.2. TurtleBot3 Waffle

download:Assembly manual for TurtleBot3 Waffle [PDF]

4.4. Assembly Video

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

4.4.1. TurtleBot3 Burger


4.4.2. TurtleBot3 Waffle


4.5. Basic Operation

_images/opencr_models.png

You can use PUSH SW 1 and PUSH SW 2 buttons to see whether your robot has been properly assembled. This process tests the left and right DYNAMIXELs and the OpenCR board.

  1. After assembling TurtleBot3, connect the battery to OpenCR and turn on the power switch. You can see that the Power LED of OpenCR turns on.
  2. Place the robot on the floor. For the test, safety radius of 1 meter (about 40 inches) is recommended.
  3. Press PUSH SW 1 to command the robot to move 30 centimeters (about 12 inches) forward.
  4. Press PUSH SW 2 to command the robot to rotate 180 degrees in place.

4.6. Open Source Hardware

Core components of Turtlebot3 are the followings: Chassis, Motors, Wheels, OpenCR, 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.