Segway Robotic Mobility Platform (RMP) Specifications

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Segway Robotic Mobility Platform (RMP) Specifications Proven Durability, Reliability, and Performance The Segway RMP takes the performance and engineering prowess demonstrated in the Segway Personal

All RMP models feature a die-cast aluminum chassis, aircraft quality drive train, and direct control via a non-proprietary USB or CAN interface.

RMP 50XL RMP 00/ATV RMP 00 RMP 50 Omni RMP 00 Omni 10 mph (16 km/h) 1.7 ft/s (.

1 Segway Robotic Mobility Platform (RMP) Specifications Proven Durability, Reliability, and Performance The Segway RMP takes the performance and engineering prowess demonstrated in the Segway Personal Transporter (PT) and makes it available in a customizable package for robotics applications. All RMP models feature a die-cast aluminum chassis, aircraft quality drive train, and direct control via a non-proprietary USB or CAN interface. Available in a variety of configurations, Segway RMPs deliver dependable power, speed, and maneuverability to maximize your return on investment. RMP 50XL RMP 00/ATV RMP 00 RMP 50 Omni RMP 00 Omni 10 mph (16 km/h) 1.7 ft/s (. m/s) 8 mi (1 km) 10 mph / 16 km/h 18 mph / 9 km/h mph / km/h 7 mph / 1 km/h miles / 16- km miles / 16- km - miles / -5 km -6 miles / 6-10 km 5 X 5 in (6.5 x 6.5 cm) 5 x in / 6 x 61 cm (ATV: 0 x in / 76 x 61 cm) 0 x in / 76 x 11 cm 0 x 6 in / 76 x 66 6 x 8 in / 91 x 99 cm WEIGHT 95 lbs ( kg) 10 lbs / 6 kg (ATV: 157 lbs / 71 kg) 0 lbs / 109 kg 150 lbs / 68 kg 0 lbs / 109 kg MAX. DRIVE BATTERIES * CONTROL MODE(S) 00 lbs (91 kg) Li-ion WD Balance Mode or Tractor Mode 00 lbs / 91 kg 00 lbs / 181 kg 150 lbs / 68 kg 00 lbs / 181 kg Two Li-Ion Packs Four Li-Ion Packs Two NiMH Packs Four Li-Ion Packs WD Balance Mode or Tractor Mode WD Tractor Mode WD Mode (Omni-directional) WD Mode (Omni-directional) For more information go to or rmp@segway.com

Segway RMP 50 XL TRACK WIDTH TIRE DIAMETER MAX. RMP 50XL 10 mph (16 km/h) 1.7 ft/s (. m/s) 8 mi (1 km) 1 in (5 cm) 19 in (8 cm) 5 X 5 in (6.5 x 6.

platform. The RMP 50XL s durability, reliability, and payload capacity make it ideally suited for teaching environments, competitions, service applications, and other high-use situations.

Power is converted from a standard Segway RMP battery pack allowing independent 5, 1, or VDC channels for payload power.

2 Segway RMP 50 XL TRACK WIDTH TIRE DIAMETER MAX. RMP 50XL 10 mph (16 km/h) 1.7 ft/s (. m/s) 8 mi (1 km) 1 in (5 cm) 19 in (8 cm) 5 X 5 in (6.5 x 6.5 cm) 0 in (76 cm) 95 lbs ( kg) Li-ion 00 lbs (91 kg) (from empty) WD Tractor Mode 1 F to 1 F (-10 C to 50 C) The Segway RMP 50XL is our most compact, highly maneuverable, statically stable robotics platform. The RMP 50XL s durability, reliability, and payload capacity make it ideally suited for teaching environments, competitions, service applications, and other high-use situations. The Segway RMP 50XL Payload Power Option provides a simple solution for powering devices such as sensors, embedded PCs, a laptop PC, or even some manipulators. Power is converted from a standard Segway RMP battery pack allowing independent 5, 1, or VDC channels for payload power. This integrated system is further enhanced by the ability to charge the payload battery via the RMP s internal charging system. Payload Power is independent and does not affect run time of the RMP platform Output is switched allowing for independent control of payload and RMP platform State of charge can be monitored over communication link Visit to learn more and see how RMP 50XLs are being used for robotics research and development.

The second caster wheel assembly shown here is available as an

3 Segway RMP 50XL Dimensional Drawings Note: Base model includes one caster wheel and mounting plate. The second caster wheel assembly shown here is available as an add-on option. The RMP 50XL Payload Power option does not change any of these dimensions or surfaces.

4 Segway RMP 00/ATV Specifications TRACK WIDTH TIRE DIAMETER MAX. ** RMP 00/ATV 10 mph (16 km/h) 1.7 ft/s (. m/s) 1-15 mi (19- km) 1 in (5 cm) 19 in (8 cm) 5 x in (6 x 61 cm) ATV: 0 x in (76 x 61 cm) 0 in (76 cm) 10 lbs (6 kg) ATV: 157 lbs (71 kg) Two Li-Ion Packs 00 lbs (91 kg) (from empty) WD Balance Mode or Tractor Mode 1 F to 1 F (-10 C to 50 C) The Segway RMP 00 is a powerful, highly maneuverable, two-wheeled platform featuring an advanced stabilization mode that provides dynamic balancing. The RMP 00 s high center of gravity and unique mobility characteristics make it popular with researchers and engineers. Some examples of topics explored using RMP 00s include obstacle avoidance, path planning, humanrobot interaction, leader-follower pairs, and even robot soccer. The Segway RMP 00 and RMP 00 ATV Payload Power Option provides a simple solution for powering devices such as sensors, embedded PCs, a laptop PC, or even some manipulators. Power is converted from a standard Segway RMP battery pack allowing for two independent 5, 1,, and/or 7 VDC channels for payload power. This system can be recharged using an external, offboard charger. Payload Power is independent and does not affect run time of the RMP platform Output is switched allowing for independent control of payload versus the RMP Low voltage sensor produces an audible alarm to warn of low voltage Output connection type is a bus bar Visit to learn more and see how RMP 00s are being used for robotics research and development. ** Structural and tractor mode rating is 00lbs. Balancing functionality can accommodate up to 100lbs mounted at the height of the payload plate (75 cm above the ground). See User Guide for more information.

8 7 6 5 Segway RMP 00 Dimensional Drawings 8 [.016 ] [.016 ] 7 76 8 H 5 6 5 [.016 ] [.016 ] 1 H G GRID SPACING 50.80 x 50.80 [.000 x.000] /8-16 UNC GRID SPACING 50.80 x 50.80 [.000 x.000] /8-16 UNC 5.

5 Segway RMP 00 Dimensional Drawings 8 [.016 ] [.016 ] H [.016 ] [.016 ] 1 H G GRID SPACING x [.000 x.000] /8-16 UNC GRID SPACING x [.000 x.000] /8-16 UNC GRID SPACING x [.000 x.000] /8-16 UNC G 5.00 GRIDGRID SPACING SPACING x x [.000 x.000] [.000 x.000] /8-16 UNC UNC / [.016 ] F F E E D D [8.50] 55.0 [.177].58 C 75.1 [9.6] B [.177] 05.5 [8.09] 91.6 [8.50] [9.6] [9.6] [1.57] 55.0 [.177] [.177] [.177] C [8.50] [8.50] [8.50] A [1.57] [1.57] [1.57] [8.09] [8.09] 05.5 [8.09] [8.09] 75.1 [9.6] [9.6] [1.57]

RMP 00 TRACK WIDTH TIRE DIAMETER MAX. 18 mph (9 km/h) 6. ft/s (8.1 m/s) 1-15 mi (19- km).

6 Segway RMP 00 Specifications The Segway RMP 00 is our most powerful robotics platform. Powered by four lithium-ion battery packs and rolling on four ATV tires, the Segway RMP 00 is a workhorse capable of moving quickly over challenging terrain for long distances. RMP 00 TRACK WIDTH TIRE DIAMETER MAX. 18 mph (9 km/h) 6. ft/s (8.1 m/s) 1-15 mi (19- km).5 in (6 cm) 1 in (5 cm) 0 x in (76 x 11 cm) (load dependent) 50 in (17 cm) 0 lbs (109 kg) Four Li-Ion Packs 00 lbs (181 kg) (from empty) WD Tractor Mode 1 F to 1 F (-10 C to 50 C) The Segway RMP 00 Payload Power option provides a simple solution for powering devices such as sensors, embedded PCs, a laptop PC, or even some manipulators. Power is converted from a standard Segway RMP battery pack allowing for independent 1 VDC and 7 VDC channels for payload power. This integrated system is enclosed within an environmentally sealed enclosure that bridges the two power bases and provides easy access to all user interface control buttons. Further enhancements include the ability to charge the payload battery and power base batteries via onboard chargers through a single charge port. Output is switched allowing for independent control of payload and RMP platform Low voltage sensor produces an audible alarm to warn of low voltage The standard output connection delivers 1 VDC to an environmentally sealed connector through the enclosure cover Visit to learn more and see how RMP 00s are being used for robotics research and development.

7 Segway RMP 00/50 Omni Specifications RMP 00/50 OMNI MAX. 6 mph (10 km/h) 8.8 ft/s (.8 m/s) -6 mi (6-10 km) 0 lbs (109 kg) Four Li-Ion Packs 00 lbs (181 kg) (from empty) WD Tractor Mode (Omni-directional) mph ( km/h).9 ft/s (0.8 m/s) - mi (5-5 km) 6 x 8 in (91 x 99 cm) 0 x 6 in (76 x 66 cm) 6 in (117 cm) 8 in (97 cm) 150 lbs (68 kg Two NiMH Packs 150 lbs (68 kg) (from empty) WD Tractor Mode (Omni-directional) 1 F to 1 F (-10 C to 50 C) 1 F to 1 F (-10 C to 50 C) The Segway RMP Omni models employ Mecanum wheels, allowing them to move sideways without turning for enhanced mobility and positioning in tight spaces. The RMP 50 Omni has a low profile, small footprint, and rugged components that make it a solid platform for developing a holonomic robot. The RMP 00 Omni is a more powerful platform powered by four lithium-ion battery packs that offers higher speed, longer range, and more payload capacity. # of Output Channels The Segway Payload Power Option provides a simple solution for powering devices such as sensors, embedded PCs, a laptop PC, or even some manipulators. Power is converted from a standard Segway RMP battery pack allowing for independent payload power channels. This integrated system is further enhanced by the ability to charge the payload battery via the RMP s internal charging system. RMP 00 Omni Payload Power Option Possible Output Voltages 5, 1,, 7 VDC 5, 1,, 60 VDC Low voltage alarm YES n/a Output connection type bus bar standard binding posts Charging System external (modified off-board) charger Payload Power is independent and does not affect run time of the RMP platform Output is switched allowing for independent control of payload and RMP platform RMP 50 Omni Payload Power Option (Single Payload Power) (Dual Payload Power) onboard and integrated with RMP Visit to learn more and see how RMP 00s are being used for robotics research and development.

RED RAVEN, THE LINKED-BOGIE PROTOTYPE. Ara Mekhtarian, Joseph Horvath, C.T. Lin. Department of Mechanical Engineering,

RED RAVEN, THE LINKED-BOGIE PROTOTYPE Ara Mekhtarian, Joseph Horvath, C.T. Lin Department of Mechanical Engineering, California State University, Northridge California, USA Abstract RedRAVEN is a pioneered