TIV-A-X

BESCHREIBUNG

TIV-A-X ist ein Mobile-Robots von DFKI Industrials. Er ist für Erkundung, Forschung, Inspektion ausgelegt. Eckdaten: 75 kg, 10 kg Traglast.

The TIV-A-X (terrestrial intervention vehicle - autonomous - range undefined) is DFKI Industrials' six-wheeled autonomous rover for exploration and intervention in difficult terrain. A triple-bogie suspension with powerful drive motors and rubber 'tweels' on each wheel lets it climb slopes of up to 40 degrees. It weighs 75 kg, measures 120 x 80 x 107 cm and carries 10 kg of extra sensors or equipment, travelling at 0.5 m/s with a 2 km range on a 355 Wh, 48 V lithium-polymer battery. A Velodyne HDL-32E laser scanner (80 m range) feeds a Graph SLAM that builds detailed maps and estimates the rover's pose, a Hokuyo scanner beside the arm produces dense point clouds of the area in front, and four cameras give the operator a 360-degree view and support colour- and gradient-based object detection. Twelve 48 V RoboDrive BLDC motors with Harmonic Drive gears turn the wheels and six Faulhaber motors steer them. The optional six-degree-of-freedom carbon-fibre manipulator, driven by brushless motors with harmonic drives, handles objects of up to 1 kg with a two-finger gripper and can place items on the rover itself. Software covers drive control, path planning, on-board 3D SLAM, autonomous exploration of unknown terrain and arm trajectory planning, running on a quad-core i7 with 802.11ac wireless.

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