SCUTTLE Frame on Frame Design for 100kg Payload AMR (PRL 7)

SCUTTLE AMR100

(Project Readiness Level 7 - Tested in actual user environment)

A customer requested for SCUTTLE robot to carry 100kg payload and a larger payload deck ~ 550mm x 700mm as a reference design to be tested at small and medium size manufacturing companies. The ultimate aim is to produce a reference design for carrying 100kg load in a warehouse in an autonomous manner - autonomous mobile robot (AMR).

Keeping the SCUTTLE design and form factor intact as much as possible, we decided to pursue this frame-on-frame design concept so we can quickly make a prototype to demonstrate how flexible and scalable is SCUTTLE design to cater for higher payload and larger payload deck..

KEY DESIGN CHANGES

Few changes had to be made especially a higher torque motor capable to carry a 100kg payload;

1). DC Motor and Motor Driver: We settled on a 10 kgf.cm DC geared motor to replace the existing 2 kgf.cm motor, each driven by a 10A 5V-30V DC Motor Driver while maintain the motor bracket design as in the SCUTTLE v2.4. ( refer https://grabcad.com/library/scuttle-robot-v2-4-1 for detail).

2). Motor Pulley: Slight modification was made to the motor pulley to cater for the larger shaft diameter at 8.0mm for the 10 kgf.cm motor. During the early design and testing iteration, we migrated from ABS based motor pulley top carbon-fiber composite and finally to stainless steel metal printed motor pulley for better reliability over a prolonged usage (will share more on issues faced in a separate project).

3). Chassis: The basic frame of 3030 Aluminum profile was changed to a 3060 Aluminum profile to cater for taller form factor of the 12V 10Ah lithium battery and CAPA55R single board computer from Axiomtek. This was the same design used for SCUTTLE - Intel AMR Kit described below;

A larger frame of 550mm x 700mm was assembled on the SCTL AMR 3060 frame to create a large payload for carrying larger opjects in the factory or warehouse. You can view the frame on frame design here - https://grabcad.com/library/scuttle-robot-100k-with-frame-1

PROTOTYPE DEVELOPMENT PROGRESS

1st MVP (minimum viable product) prototype was developed and assembled for testing at customer site in early 2023.

These prototypes were tested in the different offices and factory settings to study the autonomous navigation and mobility of the robot.

Here is a compilation of video of autonomous navigation of the SCUTTLE AMR100 in various factory conditions and testing of its collision avoidance feature;

At the time of this update (9 Dec, 2023) we are making progress in areas identified for improvements namely improved traction between drive wheels and various surfaces (concrete, tiles, vinyl flooring), battery indicator, emergency brake and automatic charging. These will be updated in our next revision.

* You can find PRL definitions here - https://www.scuttlerobot.org/updates/blog/project-readiness-level/