https://www.verlab.dcc.ufmg.br/old/ 2026-05-08T17:01:47-03:00 https://www.verlab.dcc.ufmg.br/old/ https://www.verlab.dcc.ufmg.br/old/lib/images/favicon.ico text/html 2010-11-25T17:06:15-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/arm?rev=1290711975&do=diff A robotic manipulator will be on top of each roomba, attached to an acrylic resin platform. The manipulator will be a CrustCrawler AX-12 Smart Arm, sold by CrustCrawler, with three degrees of freedom plus two in the gripper, controlled by seven Robotis AX-12+ servo motors. text/html 2011-02-03T14:21:28-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/batteries?rev=1296750088&do=diff A study on batteries Choosing what battery to use is driven by several conditions which should be taken into consideration before making a choice. Here come some of them. * Battery cycle life is defined as the number of complete charge - discharge cycles a battery can perform before its nominal capacity falls below 80% of its initial rated capacity. “Lifetimes of 500 to 1200 cycles are typical. An alternative measure of cycle life is based on the internal resistance of the cell. In this ca… text/html 2011-01-03T11:16:36-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/battery?rev=1294060596&do=diff Each arm is going to be powered by a lithium polymer battery. This sort of battery has been chosen due to the great amount of electrical current needed to power the devices, especially the robotic manipulator. Battery performance characteristics Model: Turnigy 5000mAh 35C 3S text/html 2010-11-10T00:43:45-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/electronic_design?rev=1289357025&do=diff Electronic Design text/html 2010-11-10T00:42:12-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/electronic_desing?rev=1289356932&do=diff Electronic Design text/html 2011-03-14T14:03:20-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/index?rev=1300122200&do=diff Components: * iRobot Create * Hokuyo URG Ranger * Webcam * AX-12 SmartArm * Battery Mechanical Design [Project's objective example] Arm Main article: Arm A robotic manipulator will be on top of each roomba, attached to an acrylic resin platform. The manipulator will be a CrustCrawler AX-12 Smart Arm, sold by CrustCrawler, with three degrees of freedom plus two in the gripper, controlled by seven Robotis AX-12+ servo motors. text/html 2010-12-06T10:31:17-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/lead_acid?rev=1291638677&do=diff Lead acid battery Positive characteristics • Extremely high current output - low internal resistance - very high conversion efficiency (80-85%). • No voltage depression (“memory” effect). • Can be tailored for particular use (eg, deep cycle). text/html 2010-12-06T10:39:48-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/lithium_ion?rev=1291639188&do=diff Lithium Ion Positive characteristics • No voltage depression (“memory” effect). • Very high storage density (~200% of NiCd). Negative characteristics • Must not be over discharged. • Reduced capacity under heavy loads (Peukert Effect). text/html 2010-12-03T14:56:23-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/lithium_ion_polymer_lithium_polymer?rev=1291395383&do=diff Lithium ion polymer (lithium polymer) Positive characteristics • No voltage depression (“memory” effect). • Even higher storage density than lithium ion (up to 300% of NiCd storage density). • Doesn't have to be in a cylindrical shape. text/html 2010-12-06T10:40:36-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/lithium_iron_phosphate_lifepo4?rev=1291639236&do=diff Lithium iron phosphate (LiFePO4) Positive characteristics • Higher discharge current than other lithium batteries. • Do not explode under extreme conditions like other lithium rechargeables. • Weigh less than other Li-ion batteries. • Low cost. text/html 2010-12-03T14:41:57-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/nicd_rechargeable_nickel_cadmium?rev=1291394517&do=diff NiCd rechargeable (nickel cadmium) Positive characteristics • Extremely high current output - low internal resistance - high conversion efficiency (65%). • Not much capacity loss under heavy loads (little to no Peukert Effect). • Very level output voltage curve, holding very steady at 1.2V until almost flat. text/html 2010-12-03T14:51:09-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/nimh_rechargeable_nickel_metal_hydride?rev=1291395069&do=diff NiMH rechargeable (nickel metal hydride) Positive characteristics • Can give very high current output. • Not much capacity loss under heavy loads (little to no Peukert Effect). • Very level output voltage. • Can be recharged many times (500+) if good quality and treated well. • Little voltage depression (“memory” effect). text/html 2010-12-03T14:48:09-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/nizn_rechargeable_nickel_zinc?rev=1291394889&do=diff NiZn rechargeable (nickel zinc) Positive characteristics • Similar to NiCd but no toxic cadmium. • Zinc is less expensive than cadmium. • The nickel and zinc can be fully recycled. • Even lower internal resistance than NiCd. • Higher than normal voltage, nominal 1.6V per cell. text/html 2011-04-07T16:53:27-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/power?rev=1302206007&do=diff The project’s components are not going to have the same powering system. * The arms are going to be powered by Ni-MH batteries * The hokuyo is going to be powered by the netbook’s battery * The roomba is self-powered by a 3000 mAh 14.4 v NiMH battery. text/html 2010-12-03T14:35:22-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/rechargeable_alkaline?rev=1291394122&do=diff Rechargeable alkaline Positive characteristics • Batteries and chargers are less expensive than other types. • No cadmium (more environmentally friendly than NiCd). • Very low self discharge. Negative characteristics • Require a special sort of charger. text/html 2010-12-03T14:28:08-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/sealed_lead_acid_gel_cell_or_absorbed_glass_mat?rev=1291393688&do=diff Sealed lead acid battery Positive characteristics • Sealed, and so much safer than standard lead acid. • Extremely high current output - low internal resistance - extremely high conversion efficiency (gel 85-90%, AGM 95%). • No voltage depression (“memory” effect). text/html 2010-12-09T10:34:17-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/software?rev=1291898057&do=diff StarGaze Main article: StarGaze The Silvver software will be used in a branch of the project called StarGaze. Inspired by the NorthStar® localization system by Evolution Robotics, it enables the robot, with a webcam attached to its body facing up, to locate itself reading the position from several markers in the ceiling. text/html 2010-11-10T01:12:15-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/softwares?rev=1289358735&do=diff Softwares Contents 1. 2. 3. Player The Player software is a server which provides a high-level programming interface to deal with a robot's sensors and actuators. It will be used to control both the roomba's movement and the Hokuyo laser, there are plans in using it to control the Smart Arm as well, but a driver needs to be written. text/html 2011-01-06T16:16:18-03:00 https://www.verlab.dcc.ufmg.br/old/projetos/roomba/stargaze?rev=1294337778&do=diff StarGaze is a branch of the Roomba Project. Inspired by the NorthStar® localization system by Evolution Robotics, it enables the robot, with a webcam attached to its body facing up, to locate itself reading the position from several markers in the ceiling.