Hangfa Discovery Q2¶
The Discovery Q2 is a small robot platform developed by HANGFA Robotics. This platform is a four-wheeled omnidirectional robot with 4 QMA10 mecanum wheels driven by 4 coreless servo motors, supporting CAN bus and RS232 serial ports. The original plaform provides a Software Development Kit (SDK), allowing users to extend the capabilities of the plaform. This SDK provides a complete communication protocol and source code samples based on the STM32F407.
Links¶
- HANGFA Robotics Europe
- Discovery Series (Chengdu HANGFA Hydraulic Engineering Co. Ltd)
- Discovery Series (HANGFA Robotics Europe)
- Discovery Q2
- QMA Mecanum Wheel Series (Chengdu HANGFA Hydraulic Engineering Co. Ltd)
- QMA Mecanum Wheel Series (HANGFA Robotics Europe)
- QMA10 Mecanum Wheel
Documents¶
- Hangfa Discovery Q2 User Manual
- Hangfa Discovery Q2 Robot Main Control Board (RHF407) User Manual
- Hangfa Discovery Q2 Dimensions (available at http://www.hangfa.com/products/research-platform/discoveryQ2.html)
- Hangfa Compass Q2 User Manual (available at https://cdn.robotshop.com/media/h/hfa/rb-hfa-01/pdf/compass_q2_user_manual_1.2.pdf)
Characteristics¶
| Description | Value |
|---|---|
| Body Structure | aluminum alloy (bent yellow metal sheets) |
| Dimensions | 359x313.5x114mm |
| Weight | 7kg |
| Ground Clearance | 23mm |
| Type | four-wheeled omnidirectional |
| Maximum Translational Speed | 0.65m/s |
| Maximum Rotational Speed | 140º/s |
| Autonomy | >10h @ 3kg load, 0.5m/s, 70% moving rate |
| Wheels | QMA10 mecanum (Hangfa) |
| Wheels Structure | carbon steel hub |
| Wheels Dimensions | 101.6mm (diameter) x 45.7mm (wide) |
| Wheels Weight | 350g |
| Wheels Maximum Load | 30kg |
| Wheels #Rollers | 10 |
| Wheels Rollers Structure | two bearings fixation, rubber surface |
| Motors Model | Faulhaber 2342 OEM DC motor |
| Motors Voltage (Rated) | 12V |
| Motors Current (Rated) | 1.1A |
| Motors Output Power (Rated) | 11W |
| Motors Speed (Rated) | 5800rpm |
| Motors Speed (No-load) | 6800rpm |
| Motors Encoders | 5V, 2 channels, 12CPR |
| Motors Fixation Type | outer body bearing block bears the wheel in axial and radial loads |
| Motor Drivers | IMDR4 module boards |
| Motor Drivers Interfaces | CAN, RS232 |
| Battery | 12V DC 10400mAh Li-ion |
| Battery Charger | KXD-126300 Li-ion charger, 100~240VAC input, 12.6VDC @ 3.0A output |
| External User Power | 5V @ 5A DC |
| Electrical Protection | 10A power fuse |
Gallery¶
Limitations for Multimodal Perception¶
- No computer unit included to, e.g., run Robot Operating System (ROS)-based executable nodes
- Wheeled odometry data not available
- IMDR4 board does not have an interface to change the internal closed-loop control if needed
- Only 5V @ 5A external output provided to the user
- No native support for 3D LiDAR and RGBD cameras