The robot is an assembly of four independent modules.  

The wheelbase platform: 

The wheelbase is a mecanum wheelbase for omnidirectional displacement, equipped with four 35W 24V dc motors equipped with encoders. Each motor is mounted on independent spring suspensions and an Inertial measurement unit IMUMPU9250 and a 360-degree Lidar sensor RPLIDAR A2 are completing this wheelbase.   

The brain of the base is an Arduino due board. It controls the motors' speed with a PID control loop reads the different sensors and perform inboard relative position estimation and obstacle avoidance allowing a safe collaboration with humans. 

The Arduino Due board, read commands and send data such as velocity, positions, and obstacle points using a UART Serial protocol.

The arm and gripper:

The arm and gripper module are an XArm 6 with an XArm parallel gripper from Ufactory. This arm is a precise 6 DoF arm, with a payload of 5 kg repeatability of +/- 0.1mm and a length of 691 mm. The XArm 6 is equipped with a great collision detection thanks to the current feedback combined with the dynamics compensation to sense the force precisely. If any collision happened, xArm will detect it and stop the moving in 0.5s allowing a safe collaboration with humans.  

The XArm parallel gripper has a 12-bit absolute encoder as well as an integrated force sensor.  

The IA module:

The IA module is a computer board, currently an “NVIDIA Jetson Nano”, that we could upgrade later if more computational power is needed, plus vision sensors including intel depth sensor D435 and tracking sensor T265.  The IA module can detect and locate obstacles targets or visual landmarks and it communicate with the other modules to receive data or send commands. The IA module handle also all the task planification, robot and arm trajectories, path planning, localization and mapping.

The power supply module: 

The power supply module integrates a 6S 12Ah Lipo battery and security systems like on/off switch emergency buttons and fuses. 

The emergency button cut the power supply for all modules except the IA module.