AD-R1M Specifications
This document provides an overview of the AD-R1M’s components, capabilities, and design parameters.
Hardware components
The base AD-R1M variant consists of:
1x Raspberry Pi 5 – main compute
1x ADRD4161-01Z robotics connectivity carrier for rpi, providing connectivity options for: ADIS IMUs, CAN bus, GPIOs
1x ADIS16470 IMU
1x EVAL-ADTF3175 ToF camera
1x ADRD5161-01Z BMS module, on a LiPo 3S2P battery pack
2x ADRD3161-01Z motor drive modules
2x QSH5718-51-28-101-10K stepper motors with high resolution encoders
Hardware add-ons
The AD-R1M supports connecting extra hardware for enhanced function, via:
Wired 1Gbps Ethernet – for other compute platforms with network
1x USB 3.0, 2x USB 2.0 ports available on the Pi
GPIOs, broken out on the carrier board
We provide reference designs for the following add-on hardware combinations:
NVIDIA® Jetson™ AGX Orin + one or more Intel® RealSense™ stereo cameras
NVIDIA® Jetson™ Xavier NX + AD-GMSL522-SL GMSL™ Carrier Board + 4x GMSL™ cameras
Software stack
The Raspberry Pi 5 main compute platform powering the robot runs a software stack composed of:
ADI Kuiper Linux, ADI’s Debian-based distribution
Docker
ROS 2 Humble
The default robot runtime has ROS 2 functionalities for:
Motion control
Full robot sensing: motor feedback, IMU, cameras
Sensor fusion
Manual teleoperation
Autonomous operation: SLAM, navigation
The robotics modules on board run open source Zephyr® firmware and communicate via CAN bus using the CANopen® protocol stack and appropriate CiA® DSPs:
ADRD3161 firmware implements a CiA® 402 device
ADRD4161 firmware implements a slcan adapter
ADRD5161 firmware implements a CiA® 419 device
Mechanical specifications
Parameter |
Value |
Notes |
|---|---|---|
Construction |
T-slot Aluminium extrusion, metric 20-series |
|
Dimensions (L x W x H) |
585 x 360 x 150 mm |
Chassis only, without payload |
Weight |
~ 10 kg |
Base configuration, battery included |
Payload capacity |
N/A |
Not rated for payload carrying. Capacity heavily influenced by drive surface, tunable motor soft limits |
Drive system specifications
Parameter |
Value |
Notes |
|---|---|---|
Kinematics |
Differential drive |
2 driven wheels on left-right axis through geometric center |
Drive wheel diameter |
100 mm |
Not including wear, dynamic deformation |
Drive wheel width |
25 mm |
Not including wear, dynamic deformation |
Drive wheel track (base width) |
220 mm |
Wheel contact patch center-to-center |
Caster wheel diameter |
50 mm |
4x caster wheels |
Caster wheel ground clearance |
~ 5 mm |
Drive wheels maintain ground contact; Robot slightly swings around drive wheel axis |
Motor current limit |
2.5 A |
Per motor. Soft limit. Default tuning parameters; may be tuned up. |
Max speed |
2.0 m/s |
Soft limited by default motor tuning parameter set. Near system limit; needs HW upgrade to be significantly increased. |
Default speed |
1.0 m/s |
Controlled by ROS 2 teleop and nav2 configs |
Battery power specifications
Parameter |
Value |
Notes |
|---|---|---|
Battery cell |
NCR18650GA |
|
Battery configuration |
3S2P (3 series pairs of 2 parallel cells each) |
|
Battery voltage |
9.0 - 12.6 V |
Range |
Battery voltage |
10.8 V (3 x 3.6 V) |
Nominal |
Battery capacity |
6600 mAh (2 x 3300 mAh) |
Nominal |
Charge time |
2 h |
Robot powered on but idle. |
Operating time |
2 - 3 h |
Constant motion on soft terrain (e.g. soft rubber, carpet) |
Operating time |
12 h |
Motors idle |
Sensor specifications
Parameter |
Value |
Notes |
|---|---|---|
ToF camera range |
0.4 - 4.0 m |
|
ToF camera FOV |
75° horizontal / 90° diagonal |
|
ToF camera resolution |
512 x 512 px |
Each pixel has: one depth value (mm from sensor origin), one infrared albedo value |
IMU sampling frequency |
200 Hz (default) / 2000 Hz (max) |
Configurable via libIIO |
Electrical specifications
Parameter |
Value |
Notes |
|---|---|---|
CAN Bus Speed |
500 kbps |