B1 Omni Base: Integrated Mobility In All Directions
The Meka B1 Omni Base is the ideal platform for researchers interested in mobile manipulation in human environments. It utilizes the proven Holomni Powered Caster to obtain high performance holonomic control.
The B1 features a compact footprint, integration with the Meka M3 real-time control system, and on-board LAN, WAP, and EtherCAT. It supports both Meka and 3rd party payloads. The B1 includes a desktop Base Station PC and power charge box that allows for hot-swapping between wall power and battery power. It also provides auxiliary power for additional manipulators, computers, and sensors.
Features
- Omnidirectional motion
- Holomni Powered Casters
- On-board payload power
- On-board LAN, WAP, and Bluetooth
- On-board real-time control PC
- EtherCAT Control Bus
- Position and velocity controllers
- PS3 Joystick interface
- Meka M3 and ROS software stacks
Options available for the B1 include:
- Festo prismatic joint for manipulator payloads
- Computation backpack for additional on-board computers
- ROS enabled laser range finder
| Total DOF | 3 |
|---|---|
| Actuated Motors | 8 |
| Interface | M3 EtherCAT |
| Onboard Power | 24V 60AH SLA |
| Weight | 101.5 Kg |
| Payload | 100 Kg |
| Max Acceleration | 4 m/s2 |
| Max Velocity | .7 m/s |
| Dimensions | 673 x 460 x 312 mm |
| Payload Interface | M3 EtherCAT |
| Payload Power | 24V/30A |
| Auxiliary Computer Power | 3x19.8V, 150W |
| Auxiliary Sensor Power | 1x12V, 150W |