Table 3 Specifications of NuBot platform
From: NuBot: A Magnetic Adhesion Robot with Passive Suspension to Inspect the Steel Lining
Items | Features |
|---|---|
Total mass | 980 g |
Partial mass | Front/rear wheel: 72 g Middle wheel: 80 g Suspension: 32 g Others: 468 g |
Length × width × height | 260 × 200 × 100 \({\mathrm{mm}}^{3}\) |
Length of wheelbase | 100 mm |
Radius of wheel | 27 mm |
Joint limits of suspension | \({l}_{4}, {l}_{5}\in [0, 10\mathrm{ mm}]\) \({\theta }_{C}\in [-15^\circ , 15^\circ ]\) |
Material | Carbon fiber board (chassis) 3D printing resin (other body parts) |
DC motor (encoder inside) | Type: GA12-N20 (0.2 Nm) Max. angular speed: 120 r/min |
Controller | Arduino Uno (upper machine) Arduino Nano (lower machine) |
IMU | JY901 (9-axis: accelerometer, gyroscope, and magnetometer) |