Mobile platform hardware

Maintained CAD, production files, wiring, BOMs, component data and safety notes for the differential-drive base.

openamr-platform-hw is the canonical source for the physical mobile base.

Subsystem	Current reference configuration
Compute	Raspberry Pi 5, 8 GB, Ubuntu Server 24.04 and ROS 2 Jazzy
Microcontroller	Teensy 4.0; 3.3 V I/O and not 5 V tolerant
Drive	Two 24 V, 60 W BLDC geared motors with ZBLD drivers
Feedback	AS5040 wheel encoders and MPU6500 IMU
Perception	RPLIDAR A1, legacy (existing robot), and Raspberry Pi Camera Module 3 NoIR; the OpenAMRobot 2.0 LiDAR is the RPLIDAR S3
Geometry	0.20 m wheel diameter and 0.46 m measured track

The repository contains real mechanical CAD, per-part production files, electrical and mechanical BOMs, wiring/pinout documentation, datasheets and safety material. It also documents critical current limitations: no battery fuse, no battery-side disconnect/hardware E-stop, and no active Raspberry Pi 5 cooling in the reference build.

Electrical boundary

Teensy 4.0 inputs are not 5 V tolerant, and the documented AS5040 encoders must use the 3.3 V rail. Verify the owning repository before wiring or powering hardware.