Discovery Series Platform

Series Introduction

The Discovery series of robotics platforms are economical, compact robotics platforms designed to provide customers with a complete, multi-interface, higher reliability mobile robotics system at a cost-effective price.

Discovery Q1 Three-wheeled omni-directional platform Discovery Q2 Four-wheeled omni-directional platform Discovery C1 Two-Wheeled Differential Platform Discovery C2 Four Wheel Differential Platform Discovery L1 Crawler Platform

Parameter Comparison

Product	Discovery Q1 Three-wheeled omni-directional platform	Discovery Q2 Four-wheeled omni-directional platform	Discovery C1 Two-Wheeled Differential Platform	Discovery C2 Four Wheel Differential Platform	Discovery L1 Crawler Platform

Fuselage Form	Sheet metal assembly molding	Sheet metal assembly molding	Sheet metal assembly molding	Sheet metal assembly molding	Sheet metal assembly molding
Overall Dimension	365.5×400.2×109	359×313.5×114mm	231×314×120	301.6×308×112	325×285×100
Driving Wheel	QL-10 Omni-directional Wheel	QMA-10 Omni-directional Wheel	HSL-10 Rubber Wheel	HSL-10 Rubber Wheel	Crawler Wheel
Diameter of Driving Wheel	101.6mm	101.6mm	101.6mm	101.6mm	77mm
Driving Method	Three-wheel independent drive	Four-wheel independent drive	Two-wheel independent drive	Four-wheel independent drive	Two/four motor combination drive
Suspension Form	No suspension	Co-Axial Pendulum Suspension	Co-axial pendulum suspension of driven wheels	No suspension	No suspension
Minimum Ground Clearance	30.5mm	23mm	20mm	30mm	18mm
Weight	5.2kg	6.7kg	4.8kg	5.6kg	5.7kg
Rated load Capacity	10kg	10kg	10kg	15kg	15kg
Motor Type	Hollow Cup DC Servo Motor	Hollow Cup DC Servo Motor	Hollow Cup DC Servo Motor	Hollow Cup DC Servo Motor	Hollow Cup DC Servo Motor
Motor Rated Power	17W	17W	17W	17W	17W
Motor Encoder	12 lines/revolution, A and B phase outputs	12 lines/revolution, A and B phase outputs	12 lines/revolution, A and B phase outputs	12 lines/revolution, A and B phase outputs	Hollow Cup DC Servo Motor
Number of Motors	3	4	2	4	2/4
Motor Drive	Servo drive, CAN bus, RS232 communication interface	Servo drive, CAN bus, RS232 communication interface	Servo drive, CAN bus, RS232 communication interface	Servo drive, CAN bus, RS232 communication interface	Servo drive, CAN bus, RS232 communication interface
Maximum Travel Speed	0.65m/s	0.65m/s	0.65m/s	0.65m/s	0.5m/s
Maximum Rotation Speed	200°/s	140°/s	280°/s	160°/s	115°/s
Minimum Turning Radius	0m	0m	0m	0m	0m
Adaptable Terrain	Indoor and outdoor concrete and asphalt pavements with fewer potholes	Indoor and outdoor concrete and asphalt pavements with fewer potholes	Indoor and outdoor concrete and asphalt pavements with fewer potholes	Indoor and outdoor general pavement and dirt pavement	Indoor and outdoor general pavement and dirt pavement
Typical Endurance	Approx. 10h (load 5kg, operating speed 0.5m/s, operating rate 70%)	Approx. 10h (load 5kg, operating speed 0.5m/s, operating rate 70%)	Approx. 10h (load 5kg, operating speed 0.5m/s, operating rate 70%)	Approx. 8h (load 5kg, operating speed 0.5m/s, operating rate 70%)	Approx. 8h (load 5kg, operating speed 0.4m/s, operating rate 70%)
Standby Time	>30h	>30h	>30h	>30h	>30h
On-board Power Output	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A
Power Fuse Preset Specification	5×20/10A	5×20/10A	5×20/10A	5×20/10A	5×20/10A
Battery	12V/10.4Ah lithium-ion battery	12V/10.4Ah lithium-ion battery	12V/10.4Ah lithium-ion battery	12V/10.4Ah lithium-ion battery	12V/10.4Ah lithium-ion battery
Battery Quick Change	Support	Support	Support	Support	Support
Charger	Input:AC220V~240V / Charging current:3A / Interface:Plug-in type
Accessory	Battery charger, ULB-1 ultrasonic transducer × 3
DEMO Board	RHF407 development board (CAN×2, RS232×2, TTL×1, RS485×1, SPI×1, I2C×1, ADC×8, DAC×2, PWM×8, LED×2, keypad×2, independent I/O×24, reusable I/O×29, TF card interface×1, RTC backup battery holder, reusable TFT LCD interface×1)

Product	Discovery Q1 Three-wheeled omni-directional platform	Discovery Q2 Four-wheeled omni-directional platform	Discovery C1 Two-Wheeled Differential Platform	Discovery C2 Four Wheel Differential Platform	Discovery L1 Crawler Platform
Fuselage Form	Sheet metal assembly molding	Sheet metal assembly molding	Sheet metal assembly molding	Sheet metal assembly molding	Sheet metal assembly molding
Overall Dimension	365.5×400.2×109	359×313.5×114mm	231×314×120	301.6×308×112	325×285×100
Driving Wheel	QL-10 Omni-directional Wheel	QMA-10 Omni-directional Wheel	HSL-10 Rubber Wheel	HSL-10 Rubber Wheel	Crawler Wheel
Diameter of Driving Wheel	101.6mm	101.6mm	101.6mm	101.6mm	77mm
Driving Method	Three-wheel independent drive	Four-wheel independent drive	Two-wheel independent drive	Four-wheel independent drive	Two/four motor combination drive
Suspension Form	No suspension	Co-Axial Pendulum Suspension	Co-axial pendulum suspension of driven wheels	No suspension	No suspension
Minimum Ground Clearance	30.5mm	23mm	20mm	30mm	18mm
Weight	5.2kg	6.7kg	4.8kg	5.6kg	5.7kg
Rated load Capacity	10kg	10kg	10kg	15kg	15kg
Motor Type	Hollow Cup DC Servo Motor	Hollow Cup DC Servo Motor	Hollow Cup DC Servo Motor	Hollow Cup DC Servo Motor	Hollow Cup DC Servo Motor
Motor Rated Power	17W	17W	17W	17W	17W
Motor Encoder	12 lines/revolution, A and B phase outputs	12 lines/revolution, A and B phase outputs	12 lines/revolution, A and B phase outputs	12 lines/revolution, A and B phase outputs	Hollow Cup DC Servo Motor
Number of Motors	3	4	2	4	2/4
Motor Drive	Servo drive, CAN bus, RS232 communication interface	Servo drive, CAN bus, RS232 communication interface	Servo drive, CAN bus, RS232 communication interface	Servo drive, CAN bus, RS232 communication interface	Servo drive, CAN bus, RS232 communication interface
Maximum Travel Speed	0.65m/s	0.65m/s	0.65m/s	0.65m/s	0.5m/s
Maximum Rotation Speed	200°/s	140°/s	280°/s	160°/s	115°/s
Minimum Turning Radius	0m	0m	0m	0m	0m
Adaptable Terrain	Indoor and outdoor concrete and asphalt pavements with fewer potholes	Indoor and outdoor concrete and asphalt pavements with fewer potholes	Indoor and outdoor concrete and asphalt pavements with fewer potholes	Indoor and outdoor general pavement and dirt pavement	Indoor and outdoor general pavement and dirt pavement
Typical Endurance	Approx. 10h (load 5kg, operating speed 0.5m/s, operating rate 70%)	Approx. 10h (load 5kg, operating speed 0.5m/s, operating rate 70%)	Approx. 10h (load 5kg, operating speed 0.5m/s, operating rate 70%)	Approx. 8h (load 5kg, operating speed 0.5m/s, operating rate 70%)	Approx. 8h (load 5kg, operating speed 0.4m/s, operating rate 70%)
Standby Time	>30h	>30h	>30h	>30h	>30h
On-board Power Output	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A	5V@2.5A×2 way /Battery voltage (9.6~12.6V)@>5A
Power Fuse Preset Specification	5×20/10A	5×20/10A	5×20/10A	5×20/10A	5×20/10A
Battery	12V/10.4Ah lithium-ion battery	12V/10.4Ah lithium-ion battery	12V/10.4Ah lithium-ion battery	12V/10.4Ah lithium-ion battery	12V/10.4Ah lithium-ion battery
Battery Quick Change	Support	Support	Support	Support	Support
Charger	Input:AC220V~240V / Charging current:3A / Interface:Plug-in type
Accessory	Battery charger, ULB-1 ultrasonic transducer × 3
DEMO Board	RHF407 development board (CAN×2, RS232×2, TTL×1, RS485×1, SPI×1, I2C×1, ADC×8, DAC×2, PWM×8, LED×2, keypad×2, independent I/O×24, reusable I/O×29, TF card interface×1, RTC backup battery holder, reusable TFT LCD interface×1)

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