Compass Q2 Four-wheel Omni-directional Robot Platform User Manual V1.2 Chengdu Hangfa Hydraulic Engineering Co.
Safety Warnings Please do not switch on power for the robot before you read and fully understand this Manual. Please do not plug or dismount any part of the robot when the robot is powered on. Please switch the main power off if any emergency happens. Original power adaptor shall be used for charge. The robot platform does not fireproof or waterproof, therefore please keep robot platform away from fire or water as far as possible.
CATALOGUE 1 2 3 Description ................................................................................................................................ 3 Features .................................................................................................................................... 3 Get to know your Discovery Q2 ................................................................................................ 4 4 3.1 Exterior structure ....................................................
1 Description As economical small robot platform, the Compass series are aimed at offering a complete, multi-interfaced and highly reliable moving robot system at the best cost-performance. Compass Q2 is such a platform with four QMA-10 Mecanum wheels which are made by Hangfa itself. Compared to the traditional ones, the wheels are able to move laterally, rotate, or rotate when move laterally. The robot platform chassis is made by mold.
•DEMO development board With STM32F407 as the core, the RHF407 development board offers the open source C# programming language SDK, to aid the users to operate on the robot. High computing performance and multiple ports enable the user to carry on it different application and development. 3 Get to know your Discovery Q2 3.1 Exterior structure 1、 wire hole Wire from inside of the robot to outside.
The fuse will blow out for protection, in the case of short circuit or false operation. 10、 11、 Chassis body QMA-10 Mecanum wheel 3.
4 Let your Compass Q2 robot platform move. By RHF407 development board, discovery Q2 pre-builds two demonstration programs, which demonstrate the robot parallel movement function and self-movement function。The user can push SW2 and SW3 buttons on the development board to achieve action1 and action 2.
RHF407 Development Board 4.1 Position Parallel Movement DEMO Click the RHF407 SW2 button，the robot will make a parallel movement according to the route of the below rectangle. The rectangle width is 0.8m, length is 1.6m. 4.2 Self-movement in Place DEMO Click the RHF407 SW3 button，the robot will make self-movement in place for 20 seconds.
5 System Brief Introduction 5.
insurance tube: DEMO development board model 6 STM32F407 Mechanical systems 6.1 Dimensions 6.2 Main structure Compass Q2 is made by aluminum alloy casting process, the bottom and the inside with a protruding ribs, support ear, which will reduce the connection of platform, so it will make full use of the material properties.
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6.4 Omni wheel Table2 The main parameter of QMA-10 Omni wheel Hangfa Industrial QMA-10 Omni wheel Diameter 101.6mm wide 45.7mm Roller number 10 Bearing number 20 Hub materials steel Load capacity 30kg 6.5 Rocker suspension Rocker suspension structure enables the 4 wheels to touch the ground and be driven evenly. This suspension system can help reducing vibration when passing the rough ground. The Polyurethane shock absorber helps reducing vibration when the platform is moving.
7 7.
7.2 IMDR4 Four shaft driver 7.2.1 The Module overview This module is used to drive the four dc servo motors and provide accurate speed closed-loop control. It also integrates motion control algorithm of the four omnidirectional wheels. Users can realize the overall chassis motion control or directly for each motor motion control through the communications via CAN bus and RS232 interface.
7.2.2.2 H1，Main power input port. Table4 IMDR4 main power input port Pin No. Description 1 GND 2 GND 3 VCC 4 VCC 7.2.2.3 note H2、H3、H4、H5, Motor 1、Motor 2、 Motor 3 、Motor 4 power input Table 5 IMDR4 motor 1,2,3,4 Power interface Pin No. Description 1 M+， Motor+ 2 M-， Motor+ 7.2.2.4 note H6、H7、H8、H9, Motor 1、Motor 2、 Motor 3 、Motor 4 encoder interface Table6 IMDR4 motor 1、2、3、4 encoder port PIN number description 1 NC 2 CH B 3 5V 4 CH A 5 NC 6 GND 7.2.2.
2 CANL 3 CANH 4 RXD 5 TXD 15
IFB1205 power and bus port module 7.3 7.3.1 Module summary This module is used for power supply and line-concentrating of component and equipment. Supply battery power and two way step-down powers to users’ equipment. The module output eight way power port and bus port, the users’ can use electricity and communication network easily for the equipment through these port. 7.3.2 Port description 7.3.2.
J10 Standard power and bus port J11 Standard power and bus port J12 Standard power and bus port J13 Standard power and bus port J14 Standard power and bus port J15 Standard power and bus port J10、J11 port’s 5、6 pin cross connect J12、J13 port’ s 5、6 pin cross connect J14、J15 port’ s 5、6 pin cross connect 7.3.2.2 J1, Indicator light access port Table 9IFB1205 Indicator light access port PIN number Description 1 D+ 2 GND Remark 7.3.2.
7.3.2.5 J4，Fuse Port Table 12.Ifb1205 Fuse Access Port PIN number Description 1 F1，Fuse PIN1 2 F2，Fuse PIN2 Remark 7.3.2.6 J5，Power Main Switch Port Table 13. Ifb1205 Power Main Switch Port Pin number Description 1 S1，Switch PIN1 2 S2，Switch PIN2 Remark 7.3.2.7 J6，Battery Access Port Table 14. Ifb 1205 Battery Access Port Pin number Description 1 BAT+ 2 BAT- Remark 7.3.2.8 J7，Charger Access Port Table 15.
number 1 Charge+ 2 Charge- 7.3.2.9 J8~J15，Standard Bus Port Table 16.Ifb1205 Standard Power Bus Port Pin number 7.4 Description 1 24V/BAT 2 12V 3 5V 4 GND 5 CANL 6 CANH 7 RXD 8 TXD Remark RHF 407 Development Board Please check “RHF 407 user manual”. 8 User Extend Hardware in the robot can be extending through many ways: 8.1 Bus Extend The equipment which have CAN bus port can access bus through 8 PIN standard ports on the IFB1205 board, and realize equipment connection.
8.3 Design Your Own Main Control Unit The users can design their own main control unite according to application requirement.
8.4 Accessories Can Be Choose Remote controller and receiver motion sensor electronic compass Line sensor module vision camera speaker and microphone Ultrasonic ranging sensor GPS locator WIFI to serial module IR sensor module accelerometer WAN to serial module Laser radar gyroscope Bluetooth to serial module panoramic cameras inclinometer 9 Packing List 1.
HANGFA CHENGDU HANGFA HYDRAULIC ENGINEERING CO., LTD No.220 Gangbei 3rd road, North Area, Chengdu Modern Industrial Park TEL: 028-87893560 -1041 Fax: 028-87893539 Email:sales2@hangfa.com Web: www.hangfa.
