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KUKA Mobile Manipulator Robot
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Hardware Specs:
youBot arm: Serial kinematics with 5 degrees of freedom (655mm height, 0.513 m³ work envelope, 6kg weight, 0.5kg payload, 0.1 mm repeatability, 80W power limit (for safety)). Fix axes serial structure with a two finger gripper at the flange. Links are made of very lightweight, but stiff magensium cast. Custom, lightweight motor-gear combinations.Software Specs:
youBot gripper: detachable, 2-finger gripper attached to the arm (10mm stroke/finger = 20m opening stroke; different mounting allows to grip objects up to 70mm diameter)
youBot platform: omnidirectional mobile platform with 4 KUKA omniWheels (530x360x106mm, 15 mm clearance, 20kg total weight, 20kg payload, 0.8m/s speed, EtherCAT communication, 24V)
Energy supply: one set of two batteries (Two 12 V, 5 Ah, maintenance-free lead acid rechargeable batteries; approximate runtime: 90 minutes) embedded into mobile platform
On-board PC: mini ITX board form factor (embedded CPU, passively cooled, 512 MB RAM, 4 GB Compact Flash, WLAN, USB), embedded into the mobile platform
Open source robot controller with open interfaces (position, velocity and current control)
BRIDE (BRics Integrated Development Environment) based on Eclipse to simplify application development
BROCRE (BRICS Open Code Repository) offers interoperable interfaces and best practice algorithms libraries:
- BRICS_MM for mobile manipulation
- BRICS_3D for 3D perception and modelling
- BRICS_RN for robust navigation)
Blender simulation model
Sample applications
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