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TIAGo torso (for omnidirectional base)#
TIAGo’s torso is the structure that supports the robot’s arm and head, and is equipped with an internal lifter mechanism which allows the user to change the height of the robot. Furthermore, it featuresan expansion panel and a laptop tray.
Lifter#
The lifter mechanism is placed underneath the industrial bellows, shown in Figure: Industrial bellows of the lifting torso. The lifter is able to move at 50 mm/s and has a stroke of 350 mm. The minimum and maximum height of the robot is shown in Figure: Height range of the robot.
Figure: Industrial bellows of the lifting torso#
Figure: Height range of the robot#
Expansion Panel#
The expansion panel is located on the top left part of the torso and the connectors exposed are shown in figure below and specified in the table.
Figure: Expansion panel#
Number |
Name / Short description |
|---|---|
1 |
CAN Service connector |
2 |
Mini-Fit Power supply 12 V and 5 A |
3 |
Fuse 5 A |
4 |
GigE port |
5 |
GigE port |
6 |
USB 2.0 port |
7 |
USB 3.0 port |
The CAN service connector is reserved for maintenance purposes and shall not be used.
Laptop tray#
The laptop tray is the flat surface on top of the torso just behind the robot’s head, see Figure: Laptop tray dimensions. It has mounting points to add new equipment, supporting to 5 kg, or it can be used to place a laptop in order to work in place with the robot making use of the WiFi connectivityor using one of the ethernet ports in the expansion panel.
Figure: Laptop tray dimensions#
Figure: Laptop placed on the rear tray of the robot#