General specification
| Overall dimensions | 639 mm (length) 429 mm (width) 228 mm (height of upper surface) |
| Ground Clearance | 133 mm |
| Overcoming abilities | max 220 mm* (on a vertical step) |
| Steering radius | 0 mm |
| Stability | max 40 degrees* |
| Total weight | 5.4 kg |
| Payload mass | max 3 kg |
| Speed | max 0.35 m/s |
| Material | Anodized Aluminum |
| Motion | 6 DC motors (12V) + encoder (16 pulses/rotation)+ gear 1:86 2 servos 90 Ncm |
| Power | Battery pack: NiMH 12 V / 4200 mAh |
| Autonomy | 1-3 hours depending on terrain and payload |
| Communication | IR remote controller with new functionalities RS-232 up to 57600 bps with new protocol |
| Control | Access to the 6 raw wheel encoder counters (32 bit counters) Maximum refresh rate: 10 Hz (6 counters + 2 servos) Steering angle resolution: 1°; range: [-90°; +90°] Speed resolution: 255 steps; range: [-127; +127] |
* Value highly dependant of the payload mass and position.
Drawings
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| Dimensions are in mm.
Drawings are published for information only and are subject to minor changes without notice. |
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Electronics
The embedded electronics is based on an extensible cluster of electronic modules - each one dedicated to a specific task - communicating trough a serial bus.
In standard, the Shrimp III is delivered with 8 electronic modules:
- 6 motor controllers, one per wheel.
- 1 servo controller, for both servos.
- 1 Master module. It interprets the speed and steering-angle values that are issued indifferently from the IR remote controller or the RS-232 port. It also acts as a gateway to access the electronic modules of the cluster.
The power supply of the Shrimp III is providing power for the electronic modules, the motors and the servos. In case of low battery, the supply warns the user at first place and when the security level is exceeded, it disables the supply of the rover. Since the power supply is a member of the electronic cluster, the master can read the battery state and power supply status.