Learning Robotics using Python - Second Edition

The robot chassis design

After computing the robot's motors and wheels parameters, we can design the robot chassis or robot body. As required, the robot chassis should have a provision to hold food, it should be able to withstand up to 5 kg payload, the ground clearance of the robot should be greater than 3 cm, and it should be low in cost. Apart from this, the robot should have a provision to place electronics components, such as a personal computer (PC), sensors, and a battery.

One of the easiest designs to satisfy these requirements is a multi-layered architecture such as Turtlebot 2 (http://www.turtlebot.com/). It has three layers in the chassis. The robot platform called Kobuki (http://kobuki.yujinrobot.com/about2/) is the primary drive ...