Technical Specifications
PR2 - Mechanical Spec
January 2010 (PR2 Beta)
Key Design Features
- Robust enough that you can develop and test code on the robot itself
- Ready for development out-of-the-box
Two Onboard Servers
- Two high-performance servers for a total of 16 cores of computing power
- Server Specs (each) ::
- Processors :: Two Quad-Core i7 Xeon Processors (8 cores)
- Memory :: 24 GB
- Hard Drive (Externally Removable) :: 1.5 TB
- Hard Drive (Internal) :: 500 GB
- Processors :: Two Quad-Core i7 Xeon Processors (8 cores)
Sensors
- Base ::
- Hokuyo UTM-30LX Laser Scanner
- Above Shoulders ::
- Tilting Hokuyo UTM-30LX Laser Scanner
- Microstrain 3DM-GX2 IMU
- Head ::
- 5-Megapixel Global Shutter Color Gigabit Ethernet Camera
- Wide-Angle Global Shutter Color Stereo Ethernet Camera
- Narrow-Angle Global Shutter Monochrome Stereo Ethernet Camera
- LED Texture Projector Triggered with Narrow-Angle Stereo Camera
- Forearm ::
- Global Shutter Ethernet Camera
- Gripper ::
- Three-Axis Accelerometer
- Fingertip Pressure Sensor Arrays
- Calibration LED
Networks
- Gigabit Ethernet Network for Sensor and Inter-Computer Communication
- EtherCAT Network for Realtime Motion Control and Camera Trigger Sync
Wireless
- Dual-Radio WiFi for Network Bonding
- Dedicated Access Point for Direct Access to Robot Network
Power System
- 1.3 kWh Battery System for 2-hour Robot Runtime
- Onboard Chargers
Other Features
- Wireless Bluetooth Joystick
- Wireless Run/Stop
- Speaker
Hardware
- Base ::
- Casters :: 4 Steered and Driven
- Base Width :: 668 mm
- Speed :: 1 m/s
- Telescoping Spine ::
- Center of Shoulder Height :: Max 1110 mm
- Center of Shoulder Height :: Min 775 mm
- Pan Tilt Head ::
- Pan :: +/- 175°
- Tilt :: -85° +30°
- Arm DOFs ::
- Arm :: 4
- Wrist :: 3
- Gripper :: 1
- Arm Link Lengths ::
- Upper Arm :: 400 mm
- Forearm :: 321 mm
- Wrist to Gripper Surface :: 120 to 200 mm
- Arm Force Output ::
- 4 DOF Passive Counterbalance
- Arm Payload :: 1.8 Kg (4 lbs)
- Wrist Torque :: 4 Nm (3 t lbf)
- Grip Force :: 80 N (18 Lbf)
- Arm Range of Motion ::
- Shoulder Pan :: 170°
- Shoulder Tilt :: 115°
- Upper Arm Roll :: 270°
- Elbow Flex :: 140°
- Forearm Roll :: Continuous
- Wrist Pitch :: 130°
- Wrist Roll :: Continuous
- Gripper :: 90 mm max
