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4-Wheel Explorer Robot - TerrainBot 4X

The TerrainBot 4X is an advanced 4-wheel drive robotic platform designed for challenging terrain exploration and precise manipulation tasks. Featuring independent suspension, a 6-DOF robotic arm, and comprehensive sensor suite, it excels in both autonomous and manual operations across diverse environments.

Technical Specifications

Physical Specifications

  • Dimensions:

    • Length: 61 cm

    • Width: 55 cm

    • Height: 57 cm (body)

    • Height with Extended Arm: 103 cm

  • Weight: 28  kg (including battery)

  • Construction Material:

    • Chassis: 6061-T6 aluminum alloy

    • Body Panels: Impact-resistant composite

Drive System

  • Wheel Configuration:

    • 4x4 independent drive

    • Wheel Size: 28 cm diameter

    • All-terrain tire compound

    • Heavy-duty wheel hubs

  • Motor System:

    • 4x 80W brush DC motors

    • Individual motor controllers

    • Built-in encoders

    • Regenerative braking capability

  • Performance:

    • Maximum Speed: 2.5 m/s

    • Climbing Ability: 35-degree slopes

    • Ground Clearance: 12 cm

    • Turning Radius: 0.8 m

Suspension System

  • Type: Independent

  • Features:​

    • Anti-roll stabilization

Robotic Arm

  • Configuration: 6-DOF arm with center mount

  • Specifications:

    • Reach: 65 cm

    • Payload: 2 kg at full extension

    • Base Rotation: 360° continuous

    • Repeatability: ±2 mm

  • Joint Properties:

  • Absolute position encoding

  • End-Effector Options:

    • Standard parallel gripper

    • Quick-change tool interface

    • Camera/sensor mount

    • Specialized tool attachments

Sensor Suite

Sensor Suite

  • Visual Systems:

    • Main Navigation Camera:

      • Diagonal field of view (dFoV): 78°

      • Max Resolution: 1080p/30 fps - 720p/ 30fps

    • Arm-Mounted Camera:

      • Diagonal field of view (dFoV): 78°

      • Max Resolution: 1080p/30 fps - 720p/ 30fps

    • Auxiliary Cameras:

      • Wide-angle rear view

      • Side-mounted navigation cameras

  • LIDAR System:

    • 360°x90° scanning LIDAR

    • Range: 0.05-30 meters

    • Resolution: ±2.0 cm

    • ​Update Rate: 250 Hz

  • Additional Sensors:

    • 9DOF IMU

    • GPS/GNSS receiver

    • Wheel encoders

    • Current sensors

    • Proximity sensors

Computing and Control

  • Main Computer:

    • NVIDIA Jetson Xavier NX

    • 16GB RAM

    • 512GB NVMe SSD

  • Real-time Controller:

    • Custom microcontroller array

    • 1kHz control loop frequency

  • Operating System:

    • ROS 2 middleware

    • Open Architecture control software

Autonomous Capabilities

  • Navigation:

    • GPS waypoint following

    • Obstacle avoidance

    • Terrain adaptation

    • Path optimization

  • Computer Vision:

    • Object detection

    • Surface analysis

    • Visual odometry

  • Mission Planning:

    • Autonomous exploration

    • Task sequencing

    • Failure recovery

Power System

  • Battery:

    • Type: Lithium Iron 

    • Voltage: 22.2V

    • Capacity: 20Ah

    • Hot-swappable design

  • Power Management:

    • Intelligent power distribution

    • Power monitoring system

    • Sleep mode capability

  • Operating Time:

    • Standard Use: 3 hours

    • Heavy Use:2 hours

    • Charging Time: 2-3 hours

Communication

  • Wireless:

    • Wi-Fi 6E

    • Optional radio module for long-range

  • Protocols:

    • Delayed telemetry handling

    • Loss-tolerant command system

Environmental Specifications

  • Operating Environment:

    • Temperature: -10°C to 50°C

  • Storage Environment:

    • Temperature: -20°C to 60°C

User Interface

  • Control Options:

    • Tablet-based controller

    • Laptop interface

    • MATLAB / Simulink / Unity controller

    • Web-based interface

  • Features:

    • Real-time video feeds

    • Sensor data visualization

    • Mission planning interface

    • System diagnostics

Safety Features

  • Operational Safety:

    • Emergency stop system

    • Obstacle detection

    • Tip-over prevention

    • Motor current limiting

  • System Protection:

    • Thermal monitoring

    • Voltage protection

    • Impact detection

    • Fault detection and handling

Additional Features

  • Data Logging:

    • Sensor data recording

    • Mission telemetry

    • System diagnostics

    • Performance metrics

  • Maintenance:

    • Modular component design

    • Easy access panels

    • Field-serviceable parts

    • Diagnostic interface

Applications

  • Primary Uses:

    • Outdoor exploration

    • Industrial inspection

    • Research and development

    • Search and rescue support

  • Secondary Uses:

    • Educational purposes

    • Technology demonstration

    • Environmental monitoring

    • Agricultural inspection

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