AgileX HUNTER SE User manual

HUNTER SE
AgileX Robotics Team
User Manual
2021.11.30

This chapter contains important safety information; before the robot is powered on for the first time, any individual
or organization must read and understand this information before using the device. If you have any questions about
use, please contact us at [e-mail]. Please follow and implement all assembly instructions and guidelines
in the chapters of this manual, which is very important. Particular attention should be paid to the text related to the
warning signs.

Safety Information
The information in this manual does not include the design, installation and operation of a complete robot
application, nor does it include all peripheral equipment that may affect the safety of the complete system. The
design and use of the complete system need to comply with the safety requirements established in the standards
and regulations of the country where the robot is installed.
HUNTER SE integratorsand end customers have the responsibilityto ensure compliance with the applicable laws
and regulations of relevant countries, and to ensure that there are no major dangers in the complete robot
application. This includes but is not limited to the following:
1. Effectiveness and responsibility
Make a risk assessment of the complete robot
system.
Connect the additional safety equipment of other
machinery defined by the risk assessment together.
Confirm that the design and installation of the entire
robot system's peripheral equipment, including
software and hardware systems, are correct.
This robot does not have the relevant safety
functions of a complete autonomous mobile robot,
including but not limited to automatic anti-collision,
anti-falling, creature approach warning, etc.
Relevant functions require integrators and end
customers to conduct safety assessment in
accordance with relevant provisions and applicable
laws and regulations to ensure that the developed
robot is free of any major hazards and hidden
dangers in practical application.
Collect all the documents in the technical file:
including risk assessment and this manual.
2. Environmental
For the first use, please read this manual carefully to
understand the basic operating content and operating
specification.
It is strictly forbidden to carry people
For remote control operation, select a relatively open
area to use HUNTER SE, because it is not equipped
with any automatic obstacle avoidance sensor.Please
keep a safe distance of more than 2 meters when
HUNTER SE is moving.
Use HUNTER SE under -10°C~45°C
ambient temperature.
The waterproof and dust-proof capability of
HUNTER SE is IP22.
3. Pre-work Checklist
Make sure each equipment has sufficient power.
Make sure the vehicle does not have any obvious
defects.
Check if the remote controller battery has sufficient
power.
When using, make sure the emergency stop switch
has been released.
4. Operation
Make sure the area around is relatively spacious in
use.
Carry out remote control within the range of
visibility.
The maximum load of HUNTERSE is 50KG.
When in use, ensure that the payload does not
exceed 50KG.
When installing an external extension, confirm the
position of the center of mass of the extension and
make sure it is at the center of the vehicle.
Please charge in time when the equipment is low
battery alarm.
When the equipment has a defect, please
immediately stop using it to avoid secondary

damage.
5. Maintenance
Regularly check the pressure of the tire, and keep the
tire pressure at about 2.0 BAR.
If the tire is severely worn or burst, please replace it
in time.
If the battery is not used for a long time, the battery
needs to be charged periodically every 2 to 3
months.
When the equipment has a defect, please contact the
relevant technical to deal with it, and do not handle
the defect by yourself.
Please use it in an environment that meets the
requirements of the protection level according to the
IP protection level of the equipment.
When charging, make sure the ambient temperature
is above 0°C.

CONTEXT
AgileX Robotics Team................................................................................................. 1
1. HUNTER SE Introduction ................................................................................................6
1.1 Component list ........................................................................................................6
1.2 Tech specifications..................................................................................................6
1.3 Requirement for development................................................................................8
2. The Basics ..........................................................................................................................8
2.1 Status indication...................................................................................................... 10
2.2 Instructions on electrical interfaces....................................................................... 10
2.2.1 Instructions on rear electrical interface..............................................................10
2.3 Instructions on remote control................................................................................11
2.4 Instructions on control demands and movements..................................................11
3. Getting Started ............................................................................................................... 12
3.1 Use and operation................................................................................................... 12
3.2 Charging and battery replacement.........................................................................12
3.3 Development........................................................................................................... 13
3.3.2CAN cable connection ........................................................................................ 20
3.3.3Implementation of CAN command control ....................................................... 20
3.4 HUNTERSE ROS Package use example............................................................. 20
4. Precautions..................................................................................................................... 23
5. Q&A ................................................................................................................................. 24
6. Product Dimensions..................................................................................................... 25

1. HUNTER SE Introduction
HUNTERSE is an Ackermann model programmable UGV (UNMANNED GROUND VEHICLE), which is a
chassis designed with Ackermann steering, with similar characteristics to cars, and has obvious advantages on
ordinary cement and asphalt roads. Compared with the four-wheel differential chassis, HUNTERSE has higher
load capacity, can achieve higher movement speed, and at the same time wear less to the structure and tires,
suitable for long-term work. Although HUNTERSE is not designed for all-terrain, it is equipped with swing arm
suspension and can pass through common obstacles such as speed bumps. Stereo camera, lidar, GPS, IMU,
manipulator and other equipment can be optionally installed on HUNTERSE for extended applications.
HUNTERSE can be applied to unmanned inspection, security, scientific research, exploration, logistics and other
fields.
1.1
Component list
Name quantity
HUNTER SE robot body X1
Battery charger (AC 220V) X1
Aviation plug (4Pin) X1
FS remote control transmitter (optional) X1
USB to CAN communication module X1
1.2
Tech specifications
Parameter Types Items Values
Mechanical parameters L ×W ×H (mm) 820X 640 X 310
Wheelbase (mm)
Front/rear wheel base (mm)
460
550
Weight of vehicle body (Kg) 42
Batterytype Lithium battery 24V 30Ah/60Ah
Power drive motor DC brush-less 2 X 350W
Steering drive motor DC brush-less 105W
Reduction gearbox 1：4
Steering Front wheel Ackermann
Encoder Magnetic encoder 1000
Maximum inner wheel steering angle 22°
Safety equipment Anti-collision beam
Performance parameters Steering accuracy
No-load highest
0.5°
4.8

speed (m/s)
Minimum turningradius(m)
Maximum climbing capacity
Minimum ground clearance (mm)
Operating temperature
Load
1.9
20°
120 (through angle 45°)
-10~45C°
50kg remote control
Control parameters Control mode Remote control
Command control mode
RC transmitter 2.4G/extreme distance 200m
Communication Interface CAN

1.3
Requirement for development
FS RC transmitter is provided (optional) in the factory setting of HUNTER SE, which allows users to control the
chassis of robot to move and turn; HUNTER SE is equipped with CAN interface, and users can carry out
secondary development through it.
1. The Basics
This section will give a basic introduction to the HUNTER SE mobile robot chassis, so that users and developers
have a basic understanding of the HUNTER SE chassis. Figures 2.1 and 2.2 below provide the views of the entire
mobile robot chassis.
1.Profile Support
2. Top cabin panel
3. Emergency stop button
4. Steering mechanism
Figure 2.1 Front View
1. Emergency stop switch
2. Rear electrical panel
3.Battery replacement pane
Figure 2.2 Rear View

HUNTER SE adopts a modular and intelligent design concept as a whole. The vacuum rubber wheel and
powerful DC brush-less servo motor are used on the power module, which makes the HUNTER SE robot
chassis development platform have a strong pass ability. And it is also easy for HUNTER SE to cross obstacles
with the front wheel bridge suspension. Emergency stop switches are installed on both sides of the vehicle body, so
that emergency stop operations can be performed quickly in the event of an emergency, so as to avoid safety
accidents and reduce or avoid unnecessary losses. The rear of HUNTER SE is equipped with an open electrical
interface and communication interface, which is convenient for customers to carry out secondary development.
The electrical interface adopts aviation waterproof connectors in the design and selection, which is beneficial to the
expansion and use of users on the one hand, and enables the robot platform to be used in some harsh environments
on the other hand.

2.1 Status indication
Users can identify the status of vehicle body through the voltmeter, the beeper and lights mounted on
HUNTERSE. For details, please refer to Figure 2.1.
Status Description
Current voltage The current battery voltage can be viewed through the
voltmeter in the rear electrical panel.
Low voltage alarm When the battery voltage is lower than 24.5V, the vehicle
body will give a beep-beep-beep sound as a warning. When
the battery voltage is detected as lower than 24.5V,
HUNTERSE will actively cut off the power supply to
external extensions and drive to prevent the battery from
being damaged. In this case, the chassis will not enable
movement control and accept external command control.
2.2 Instructions on electrical interfaces
2.2.1 Instructions on rear electrical interface
The extension interface at the rear is shown in Figure 2.6, in which Q1 is the charging interface; Q2 is the power
switch; Q3 is the power display interaction; Q4 is the CAN and 24V power extension interface.
The definition of Q4’s specific pin
is shown in Figure 2.7.
Figure 2.7 Pin Instruction of the Rear Aviation Interface
Pin No. Pin Type Function
and
Definition
Remarks
1 Power VCC Power positive, voltage
range 24.5~26.8v,
maximum current 10A
2 Power GND Power negative
3 CAN CAN_H CAN bushigh
4 CAN CAN_L CAN buslow