Innok TX

High-Speed Off-Road Robotic Platform

%ast , Off-road , %le+ible

Up to 1 m!s "eatherproof IP#$

#he .nnok #/ is a si- wheeled robotic +lat(or! well suited (or

%&ll' s&spended Silent (&stomi)eable

outdoor use. &0ui++ed with inde+endent sus+ension and reaching !a-i!u! s+eeds u+ to 10 !/s it shows its strengths es+eciall" in the o+en terrain.

.nnok 1obotics con(igures "our .nnok #/ according to "our

*+tendable

custo! re0uire!ents. 2o !atter i( on-board P34 sensors or actors' *ou can si!+l" choose (ro! a nu!ber o( additional e0ui+!ent 5ust as "ou like. *ou !a" also integrate "our own hardware b" !ounting it to the industr"-standard alu!inu! +ro(iles at the 6ehicle bod". #he incor+orated +ower su++l" +ro6ides the 6oltages "ou need. ,(terwards "ou control the .nnok #/ b" using the built-in 3,2 Bus which also !akes a range o( !easured data accessible.

Innok Robotics GmbH www.innok-robotics.de Bodenhuellweg 10 D-93164 Muenchsried er!an" #el. $49 9409 3390%-0 &-Mail' in(o)innok-robotics.de *our contact +erson' ,le-ander Boos

Innok TX
last u+date 7013-07-13 Page 1 / 4

Innok TX , -e+t generation robotic platform #he .nnok #/ uses a no6el conce+t (or robotic +lat(or!s. .t is e0ui++ed with an elaborate sus+ension and can reach s+eeds u+ to 10 !/s and !ore4 owing to its dri6etrain. #hus4 it is interesting (or research areas and a++lications where con6entional robotic +lat(or!s were not (ast enough u+ to now. #his is !ade +ossible b" one gearless hub !otor within each o( the siwheels. &6er" !otor is +ro6ided with its own inde+endent and (reel" con(igurable controller. 8or use at high s+eeds this allows the i!+le!entation o( a 6ehicle d"na!ics control which can !ani+ulate e6er" single wheel inde+endentl". .n order to get the !ost out o( the !otors the .nnok #/ uses a s"ste! which ada+ts the engines to the re0uired load. .n continuous o+eration the !otor te!+eratures are ke+t at a sa(e le6el. 9owe6er4 te!+oraril" the !otor controllers can de!and a !an" ti!es higher a!ount o( tor0ue than in continous o+eration. #his (u::" logic control d"na!icall" ada+ts out+ut +ower without an" hard switcho6er. ,s a result4 (or a li!ited ti!e "ou can call an i!+ressi6e +ower o( u+ to 7 k; and a thrust o( u+ to 1<0 2. 2e6ertheless4 the .nnok #/ can !o6e al!ost silentl" due to its gearless !otors. Ho. to .ork .ith the Innok TX #he 6ehicle-internal co!!unication is based on a 3,2 Bus =3,2 7.0,>4 which is used to !anage the !otor controllers. ,dditionall"4 it deli6ers all 6ehicle in(or!ation like cartesian odo!etric data4 s+eeds and !otor currents. #he bus can be accessed b" an e-ternall" !ounted ?@B +ort. .( "ou choose the o+tional on-board P3 =order no. .1-.2##/0B01>4 "ou get a read" to use s"ste! with +re-installed 1obot A+erating @"ste! =1A@>. *ou can connect to the robot wired or wireless 6ia =;->B,2 and run "our algorith!s directl" on the .nnok #/. Integrate 'o&r o.n hard.are in no time @i!+l" !ount "our own hardware to the standard alu!inu! +ro(ile rails with a groo6e di!ension o( < !! which is co!+atible with co!!on +ro(ile rail s"ste!s like those (ro! Bosch or .te!. ;ith the o+tional !ounting kit =order no. .1-MAC#/3000> "ou recei6e a set o( +ro(ile rails o( di((erent lengths and nu!erous connectors which "ou can !ount in an" wa" "ou want to attach "our hardware to the .nnok #/ e6en 0uicker. #he integrated +ower distribution s"ste! o((ers "ou regulated 6oltages o( 3.3 D4 < D and 17 D as well as the batter" 6oltage.

Technical /ata
Interfaces Data .nter(aces Data Aut+ut

3,2 7.0, ?@B odo!etr" =cartesian> s+eed "aw rate raw !otor encoder data !otor currents !otor te!+eratures 3.3 D !a-. < , =regulated> < D !a-. 4 , =regulated> 17 D !a-. 3 , =regulated> 7 - batter" 6oltage !a-. 70 , charging connector 1A@ integration sa!+le +rogra!s de!os BiPo 77.7 D 111 ;h low load' ca. %.< k! =ca. 90 !in> high load' ca. 7.< k! =ca. 30 !in> 30 !in =(ast charge> batter" tra" takes di((erent si:es o( batteries !a-. 7%0-140-60 !! 6oltage range 10 to 30 D

&lectric .nter(aces

@o(tware

Po.er S&ppl' @tandard Batter" Batter" ,utono!" =without au-. s"ste!s> 3harging-#i!e Batter"8le-ibilit"

(hassis @us+ension

se+arate inde+endent ad5ustable kine!atic bod" roll su++ort s+rings oil +ressure shocks !a-. 133 !! !a-. E0 !! di((erential

@"ste! 3hassis 3learance 1ange o( @+ring @teering

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S'stem integration b' Innok Robotics /ri0e #raction Motors

An re0uest4 .nnok 1obotics +er(or!s the co!+lete integration o( sensor 6-;D / ,;D 6 !otors brushless gearless !easure!ent o( absolute angle 6 controllers 170 M9: ,1M 3orte--M3 !icrocontroller (ield oriented (u::"-logic tor0ue !anage!ent s"ste! !a-. 7 k; =co!bined> 10 !/s =e.g. on !owed !eadow> li!it ad5ustable <0F =unloaded> technolog" onto the .nnok #/. @i!+l" chose (ro! 6arious co!+onents like laserscanners4 ultrasonic sensors or .P ca!eras. 8or a list o( co!+onents o((ered (or integration b" .nnok 1obotics +lease re(er to +age 4. 1 po.erf&l s&spension ens&res optimal performance .n oder to ac0uire shar+er and !ore stable sensor data and to +rotect "our co!+onents (ro! shocks e6en at high s+eeds the .nnok #/ has a (ull" s+ring-borne inde+endent sus+ension. #he su++le!ental oil +ressure shock absorbers ensure the wheelsH contact to the ground at an" ti!e. #he sus+ension o((ers a s+ecial kine!atic s"ste! which acts contrar" to lateral bod" roll to kee+ the 6ehicle u+right e6en in hard turns at high s+eeds. #he lightweight and robust alu!inu! chassis o( the .nnok #/ is es+eciall" designed (or the +otential o( the dri6etrain and the resulting s+eeds and (orces. *ou can e-actl" ada+t the .nnok #/ to "our needs b" its inde+endentl" ad5ustable sus+ension with a range o( s+ring o( u+ to E0 !!. #hus4 "ou sta" co!+letel" (ree re(erring to !a-i!u! weight4 weight distribution4 tra6ersed ground and +re(erred s+eed. 8or s+ecial

Motor 3ontroller Motor 3ontrol @"ste! Motor Power !a-. @+eed

radeabilit" (onstr&ction Di!ensions B-;-9 Materials ;eight Boad 3a+acit"

!a-. <60-<60-3%0 !! =without sensors> chassis' alu!inu! bod"' alu!inu! ca. 16 kg =including standard batter"> !a-. 10 kg =reco!!ended> !ore load +ossible4 reduced !obilit" !in. -70G3 !a-. $40G3 .P<4

re0uire!ents .nnok 1obotics o((ers di!ensioning o( the s+rings (or a de(ined case o( a++lication =order no. .1-.2##/0801>. Since dri0ing fast is most f&n o&tdoors222 ,s a (ast robotic +lat(or! (or outdoor use the .nnok #/ is +rotected against intrusion o( water and dust b" t"+e o( +rotection .P<4. 8ro! as+halt to sand4 (orest and (ield soils right u+ to !ud and snow the .nnok #/ can dri6e on 6arious grounds. ;ith its chassis clearence o( 133 !! it can e6en +ass higher obstacles without getting stuck. &s+eciall" due to its high s+eeds the .nnok #/ o+ens u+ +lent" o( new +otential a++lications which were not i!aginable with other robotic +lat(or!s u+ to now. B" a nu!ber o( u+grade o+tions with di((erent hardware co!+onents "ou can custo!i:e "our .nnok #/ or "ou si!+l" integrate "our own hardware. Ho. to contact &s .( "ou4 as well4 want to use the +otential o( this inno6ati6e +roduct or i( "ou ha6e 0uestions or want to (ind out !ore' 3all usI ;e will be glad to ad6ise "ouI .nnok 1obotics !b9' $49 9409 / 3390%-0

,!bient #e!+erature #"+e o( Protection

*our +ersonal +oint o( contact' ,le-ander Boos

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/ra.ing

Ordering Information
Order -o2
.1-#/3#/3000 .1-MAC#/3000

/escriptopn
Innok TX Robotic Platform including chassis4 dri6etrain4 +ower electronics and batter" 3o&nting 4it consists o( E +ro(ile rails and 16 connectors

(omponents incl&ding integration .1-.2##/0B01 On-5oard P( 141 9:4 7 B 1,M4 +re-installed ?buntu-Binu- with 1A@ Spring /imensioning &-act tuning o( the sus+ension (or "our a++lication according to "our s+eci(ications. 6aser Scanner SI(4 63S1 ,n econo!ical laser scanner with a range o( 70 ! (or indoor use. 6aser Scanner SI(4 63S111 #he BM@111 has a range o( 70 ! and is suitable (or outdoor use. 6aser Scanner SI(4 63S1#1 ;ith the outdoor laserscanner BM@1<1 and its <0 ! o( range "ou are on the sa(e side e6en at high s+eeds. 6aser Scanner HO4U7O UT3-8 6X-*" ;ith its range o( 30 ! this laser scanner e-cellentl" !atches the +er(or!ance o( the .nnok #/.

.1-.2##/0801

.1-.2##/0B01 .1-.2##/0B07

.1-.2##/0B04

.1-.2##/0B03

.ntegration o( other co!+onents u+on re0uest.

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