RAPOSA-NG

RAPOSA logo, by Filipe Jesus

Introduction

IdMind designed a new version of RAPOSA for commercial purposes, named RAPOSA NG (Next Generation). ISR has acquired a unit of this new version without most sensors for project and investigation purposes, aiming for depth notion, user-friendly visual control, 3D mapping, localization and augmented reality.

Specifications

Dimensions

• Length: 84 cm;
• Width: 47cm;
• Height: 18cm;

• Wheel radius: 9.5cm;

• Weight: 17kg (without extra hardware equipped).

Power

Battery used by RAPOSA-NG

RAPOSA-NG uses two 4S2P Li-Po batteries with 4800mAh and 14.8V. One powers all the electronic devices, while the other powers all motors.

It is also possible to use an external source of 12~20V to feed the electronic devices, outputting at least aprox. 4A.

Components

Internal Devices

From origin:

• 2 Maxon 150W DC motors (for differential drive);
• Firgelli Automation DC motor (to tilt the front body);
• 2 electronic boards:
  • Motors board (for encoding);
  • Relay board (to manage and redirect power supplies);

Installed:

• Commell LV-679: A Mini-ITX Motherboard with:
  • Intel Core 2 Duo 1.6Ghz 4Mo 800Mhz Processor;
  • 2x Kingston 1GB 667Mhz DDR2 RAM;
  • Intel PRO/Wireless LAN 2100 3B Mini PCI adapter;
  • Kingston SSDNow V Series 64GB.

External Devices

Sensors:

• Point Grey Bumblebee2 (Firewire stereo camera system);
• MicroStrain 3DM-GX2 (IMU with triaxial accelerometer, triaxial gyro, triaxial magnetometer, temperature sensors, and an on-board processor).

Batteries

• 8x 4S2P Li-Po batteries 4800mAh 14.8V.

Accessories (for usage)

• 2x Groupner ULTRAMAT (for Li-Po battery charging).

To be installed

• Microsoft© Kinect for XBOX 360 (Vision + Depth camera);
• A Pan & Tilt motor.