Payloads Over 9kg
The TurtleBot4 is able to perform with heavier payloads over 9 kg, however some mechanical
and software changes must be made for ideal operation. If these changes are not used the
system may become unstable and difficult to control.
Mechanical Modification
In order to ensure the robot is as stable as possible during operation, it is important to mount the
payload such that its center of gravity (COG) is fully supported by the wheelbase. This can be
achieved through two methods:
1. Design the payload mounting to accommodate for the offset COG. This can be done by
using the existing acrylic integration plate or by using a custom plate.
2. Add an additional caster wheel to the rear of the Create 3. This will ensure that the
payload is fully supported and balanced. Detailed instructions as well as design files are
available
Additionally, the payload height can be lowered to ensure better stability for the robot,
particularly if an additional caster wheel is not used and the system is balanced on three
wheels. While the acceleration and speed can be modified to accommodate for the elevated
COG (see below), lowering it will optimize robot performance.
Lower payload height
Lowering the integration plate of the Standard TurtleBot4, and therefore the payload, is the
simplest way to make the COG as low as possible. Follow the steps below:
1. Remove the four M4 screws using a 2.5mm hex key. The integration plate should now
be free; set it aside.
Summary of Contents for TurtleBot 4 Lite
Page 50: ...Running the Light Ring test...
Page 61: ...Adding Displays in Rviz2...
Page 63: ...Camera image displayed in Rviz2...
Page 82: ...TurtleBot 4 Lite with a NED2 arm...
Page 147: ...Color camera diagnostics...
