Copyright © 2014, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.04.11.14
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Powertrain (motor, speed-reducer and encoder)
The following specifications are defined at the output shaft after speed-reduction, including the gearbox and /or
pulley system.
Flipper shaft
Track-arm motor (1 unit)
DC motor with steel gearbox
Motor rated voltage
24V
Motor rated current
2.75A
Motor max current
16A
Shaft rated speed
19RPM
Shaft rated torque
92Kg.cm
Shaft encoder resolution
1083 counts per revolution
Drive track shaft
Track-wheel motors (2 units)
DC motors with steel gearbox
Motor rated voltage
24V
Motor rated current
2.75A
Motor max current
16A
Shaft rated speed
170RPM
Shaft rated torque
14.5Kg.cm
Shaft encoder resolution
1227.4 counts per revolution *
*Before pulley-belt speed reduction (34:20), the motor shaft encoder resolution is 722 counts per revolution.
Further Development & Programming
The Jaguar Control program
The Jaguar Control program is written with Visual Studio 2008 express (in C#) under .Net 3.5 framework. You
could download the development tools (Visual Studio 2008 express under .Net 3.5 framework) free from
Microsoft. Please refer to the “Dr Robot Application Development Notes on C# Programming for Robot Control”
for further information.
The control program uses the supporting components and libraries that should have been installed when you
install the control program from the installation CD:
1.
DRROBOTSentinelCONTROL.OCX:
Please refer to “WiRobot SDK API Reference Manual.pdf” for
detail.
2.
WiRobotGateway.exe
3.
AXIS Media Control Library Set These are the camera control component for the AXIS Mini Camera
(P/N: AXCAM-A) used for Jaguar robot. Please refer to “AXIS Media Control SDK Help” for detail.
