AgileX TITAN User manual

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
TITAN
AgileXRoboticsTeam
⽤ 户⼿ 册 V.2.0.12023.08
Documentversion
TITANUserManual
No. Version Date Edited by Reviewer Notes
1 V1.0.0 2022/10/15 何士玉 first draft
2 V2.0.0 2023/3/23 李圣望、何士玉
Update
agreement
content

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Before using the robot, any individual or organization must read and understand the manual. If
you have any questions about it, please do not hesitate to contact us at [email protected] . It is
very important that you should follow and implement all instructions and guidelines in this
manual. Please pay extra attention to the warnings.
ImportantSafetyInformation
This manual does not cover the design, installation, and operation of a robotic application, nor
does it include any equipment that may affect the safety of a robotic system. A robot system
that uses the TITANshould be designed and used in compliance with the safety requirements
and other standards of the corresponding countries.
Any users of the TITANshould comply with laws and regulations of relevant countries and
ensure that there are no obvious hazards in the application of the TITAN. This includes but is
not limited to the following:
Responsibility
Do a risk assessment of the robotic system that uses the TITAN.
The risk assessment should include additional safety equipment to other machinery.
Please ensure that the equipment of the whole robotic system, including software and hardware,
are designed, and installed correctly.
The TITAN is not an autonomous mobile robot with anti-collision, anti-fall, biological
approach warning, and other safety functions. These safety functions are expected to be
developed and assessed by system integrators and end customers under relevant safety
regulations and laws to ensure there are not any major dangers and potential safety hazards in
their practical applications.
3 V2.0.1 2023/09/02 谢 瑞 亲

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Read all technical documents: including the risk assessment and this manual.
Know the possible safety risks before using the TITAN.
UseEnvironment
For the first use, please read this manual carefully to understand the basic operation and
operating specifications.
Remote control operation should be in a relatively open area. The TITAN does not have any
automatic obstacle avoidance sensors.
Please use the TITAN under the ambient temperature of 0 ℃~ 40 ℃.
The TITAN ’ s waterproof and dustproof level is IP22 if it is not customized
Check
Make sure each device is fully charged.
Make sure the TITAN has no obvious abnormalities.
Make sure the remote control has sufficient battery power
OperationPrecautions
Ensure that the surrounding area is relatively open when operating the TITAN.
Please do remote control within sight.
The maximum load of the TITAN is 150 KG. Please ensure that the payload does not exceed
150 KG when using.
When installing external equipment on the TITAN, Please ensure their centroid location is at
the TITAN ’ s center of rotation.
Please charge the TITAN in time after low-battery alarm.
When the TITAN is abnormal, please stop using it immediately to avoid secondary injury.
When the TITAN is abnormal, please contact the technical support immediately, and do not
handle it without professional suggestion.

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Please use the TITAN in an environment that does not exceed its IP protection level.
Do not push the TITAN directly.
Tail extension power supply current does not exceed 15A, total power does not exceed 720W
BatteryPrecautions
The batteries of TITAN products are not fully charged when they leave the factory. The specific
battery voltage and power can be displayed through the voltage indicator at the rear of the TITAN
chassis or through the vol and batt on the remote control.
Pleasedonotchargethebatteryafteritisexhausted.Pleasechargeitintimewhenthelow
batteryoftheTITANremotecontrolislowerthan15%orthetailvoltagedisplayislower
than25V.
Static storage conditions: The best temperature for storage is -10°C~40°C. When the battery is
not in use, it must be charged and discharged once a month, and then stored at full voltage. Do
not leave the battery Put it in fire, or heat the battery, do not store the battery at high temperature.
Charging: You must use the matching lithium battery charger for charging. Do not charge the
battery below 0°C. Do not use non-original standard batteries, power supplies, and chargers.
Precautionsforuseenvironment
The operating temperature of TITAN is -10°C~40°C, please do not use it in an environment where
the temperature is lower than -10°C and higher than 40°C
Do not use in environments with corrosive or flammable gases or near flammable substances
Please do not use it around heating elements such as heaters or large winding resistors
The waterproof and dustproof grade of TITAN is IP22, please pay attention to the use environment,
check and remove rust regularly
It is recommended that the altitude of the use environment should not exceed 1000M
It is recommended that the ambient temperature difference between day and night does not
exceed 25°C
Regular inspection and maintenance of track tensioning wheels
SafetyPrecautions

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If you have any questions about the use process, please follow the relevant instruction manual or
consult relevant technical personnel
Before using the equipment to operate, pay attention to the situation on site to avoid personnel
safety problems caused by misoperation
In case of emergency, power off the device by tapping the emergency stop button
Do not modify the internal equipment structure without technical support and permission
When the equipment is abnormal, please stop using it immediately to avoid secondary injury
When the device is abnormal, please contact the relevant technical personnel, and do not handle
it without authorization.
CONTENTS

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1IntroductiontoTITAN
CONTENTS
Documentversion
ImportantSafetyInformation
CONTENTS
1IntroductiontoTITAN
1.1Specifications
1.2Required for Development
2BasicIntroduction
2.1 Status of the TITAN
2.2 Description of Electrical Interfaces
2.3 Remote Control Instructions
3UsageandDevelopment
3.1 Operation
3.2 CAN Communication Protocol
3.3TITAN use manual for ROS
3.4 The Github ROS development kit and user manual
3.5 Firmware Upgrade
3.6 The vehicle body coordinate system
4MaintenanceInstructions
4.1Maintenance method
5ProductSize

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TITAN is a programmable front and rear dual-steering UGV (UNMANNED GROUND VEHICLE),
which is a chassis with a modular design. Compared with the former AKM chassis, TITAN not only
greatly reduces the turning radius, but also is more stable and safer. have wider applications.
TITAN chassis, suitable for a variety of complex terrain. At the same time, it can be equipped with
stereo cameras, lidar, GPS, IMU, manipulators and other equipment, and is applied to unmanned
inspection, security, scientific research, exploration and logistics and other fields.
1.1Specifications
Type Description Parameters
Mechanical
Dimensions （ mm ）
1640×980×1440
Axle Track （ mm ）
860
Wheel Base （ mm ）
845
Rated power (w) 1000
Rated torque (N.M) 556
Performance
Maximum Speed （ m/s ）
10.8
Motion Mode Front and rear Ackermann
Maximum Obstacle Height
（ mm ）
100 （ vertical obstacles
and fully loaded ）
Maximum Climbing Angle
（ ° ）
10
Weight （ kg ） 280(two batteries)
Maximum Load （ kg ） 300
Battery Life （ h ） >5h(1.4km/htest)
Charging efficiency 1C

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1.2RequiredforDevelopment
TITAN can be equipped with FS remote control when it leaves the factory. Users can control the
chassis through the remote control to complete mode switching, movement and steering control.
TITAN is equipped with a standard CAN communication interface, and users can carry out
secondary development through the CAN interface.
2BasicIntroduction
This part is a basic introduction to the TITAN, mobile robot chassis. After reading this part, users
and developers can have an overall understanding about it. As shown in Figure 2.1 below, it is an
overview of the TITAN.
Battery Type Lithium iron phosphate
battery
Single Battery Capacity （ ah ）
24 （ Can support up to 2
batteries ）
Rated Voltage （ v ） 48
Functional Application
Engineering Investigation
Energy Inspection
Mine Transportation
Intelligent Security
Logistics
Agricultural Product
Collection and Transportation

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Figure 2.1 Overview of the TITAN
TITAN adopts a modular and intelligent design concept as a whole. It adopts a pneumatic tire
design on the power module, coupled with a powerful permanent magnet synchronous motor,
which makes the TITAN robot chassis have a strong battery life and load capacity. The motor with
a power of 1000W enables TITAN to move flexibly on different grounds.The open electrical
interface and communication interface are configured at the tail of TITAN, which is convenient for
users to carry out secondary development. The design and selection of the electrical interface
adopts aviation waterproof connectors, which is beneficial to the expansion and use of users on
the one hand, and makes the robot platform Can be used in some harsh environments. A standard
aluminum extension bracket is installed on the top of TITAN, which is convenient for users to carry
external equipment for expansion.
2.1StatusoftheTITAN
The user can check the status of the TITANthrough its CAN message. Please refer to Table 2.1 for
specific status.
Status Description
Voltage The current battery voltage can be viewed through BMS (Battery
Management System) feedback

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Table 2.1 Status Description Table for the TITAN
2.2DescriptionofElectricalInterfaces
Figure 2.2 Back View of theTITAN
Powered Status Lights on indicate power is on.
Low Voltage
Warning
When the SOC (State of Charge) ofthe battery is lower than 15% through
BMS feedback, the front and rear lights of the RANGER will flash as a
reminder. When the battery power is detected lower than 10%, the
4WDchassis will actively cut off the power supply for external
equipmentand driver to protectthebattery. At this time, the chassis will
not move and accept external command control.
Detailed Status
Information Check by CAN message