3. Specifications

_images/turtlebot3_models.png

3.1. 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 10 mm or lower
Expected operating time 2h 30m 2h
Expected charging time 2h 30m
MCU 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS)
IMU Gyroscope 3 Axis
Accelerometer 3 Axis
Magnetometer 3 Axis
Power connectors 3.3V / 800mA
5V / 4A
12V / 1A
Expansion pins GPIO 18 pins
Arduino 32 pin
Peripheral UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4
Dynamixel ports RS485 x 3, TTL x 3
Audio Several programmable beep sequences
Programmable LEDs User LED x 4
Status LEDs Board status LED x 1
Arduino LED x 1
Power LED x 1
Buttons and Switches Push buttons x 2, Reset button x 1, Dip switch x 2
Battery Lithium polymer 11.1V 1800mAh / 19.98Wh 5C
PC connection USB
Firmware upgrade via USB / via JTAG
Power adapter (SMPS) Input : 100-240V, AC 50/60Hz, 1.5A @max
Output : 12V DC, 5A

3.2. Dimension and mass

3.2.1. Data of TurtleBot3 Burger

_images/turtlebot3_dimension1.png

3.2.2. Data of TurtleBot3 Waffle

_images/turtlebot3_dimension2.png