Planned
General arrangement
Canonical source: the platform CAD in openamr-platform-hw and the upper-body CAD in openamr-upperbody-hw. Drawings are derived from the platform STEP model, the supplier CAD of the lift column and the official OpenArm 2.0 CAD; when any of them changes, the drawings are regenerated.
Applies to: OpenAMRobot 2.0, upper-body mounting option B, decided on 9 October 2026 and recorded in P-03 revision 18.9 item 18; column position and base sensor layout from P-03 revision 19.0 (12 October 2026). Dimensions in millimetres, heights from the floor (Z = 0); x forward, y left, z up.
Design decision, drawings pending
The values below are decided, but the supplier CAD for the lift column hole patterns, the OpenArm J1_A plate outline and the chassis deck pattern orientation is still pending. The drawing set of 28 September 2026 has been withdrawn from this page; it will be regenerated from the option B CAD. Battery and electronics outlines remain placeholders until the mechanical work package (M-01) fixes them.
Upper-body layout
| Element | Value | Why |
|---|---|---|
| Lift column | DOLD Hexalift V4, 350 mm stroke, 530 mm retracted and 880 mm extended, mounted with its 240 mm side fore-aft | Moves the shoulder between 1000 and 1350 mm for low and high work heights |
| Base plate | 10 mm aluminium on the 294 mm chassis deck, top face 304 mm; two fore-aft column positions, centre (bp000) and +50 mm (bp050). The column axis is 330 mm behind the 780 mm chassis front edge: x = +0.060 m from base_link at bp000 and +0.110 m at bp050 (P-03 revision 19.0) |
The 304 mm top face is the height reference; the second position moves the arms forward for reach |
| Arm profile | MISUMI HFS6-60120 (60 mm lateral, 120 mm fore-aft), 340 mm long, on a 10 mm adapter plate on the column top, 120 mm ahead of the column front face; 844 to 1184 mm at the retracted lift | Same 6-series T-slots as the OpenArm pillar, so the J1_A plates bolt on unchanged and the official arm kinematics stay exact |
| Arm mount point | OpenArm J1_A, frame openarm_{side}_base_link: 180 mm ahead of the column axis, so x = +0.240 m from base_link at bp000 and +0.290 m at bp050; y = ±31 mm, no rotation |
The upstream OpenArm body (openarm_body_link0) is not used |
| Shoulder height | 1000 mm at the retracted lift, 1350 mm fully extended, measured at the OpenArm arm mount point | Lift height is joint state; calibrated stops L1000, L1175 and L1350 |
| Head camera | Stereolabs ZED Mini on the lift carriage, lens 22 mm ahead of and 223 mm above the arm mount point, centred at y = 0, pitch 15 to 35 degrees down in 5 degree steps (baseline 25 degrees) | Moves with the arms; the pitch bracket pivots on the lens line |
| Maximum height | At most 1700 mm for the complete assembled robot at full lift extension, including the head camera; the robot may be lower | Door and rack envelope of the target sites |
| Battery | Centred 25 percent of the robot length from the rear | Balances the forward mass of the arms and keeps the centre of gravity near the drive axle |
| Electronics | All inside the mobile platform; the lift carriage carries the arms, head camera and chest E-stop | Shorter harnesses, protected enclosure, no control electronics on the lift |
| Drive and castors | Hub motors on the centre axle, four swivel castors, 52 mm total castor height | Existing platform geometry, no change to track or wheelbase |
Height stack
| Level | Retracted lift (mm) | Extended lift (mm) |
|---|---|---|
| Chassis deck top | 294 | 294 |
| Base-plate top face (height reference) | 304 | 304 |
| Column top (304 + column length) | 834 | 1184 |
| Arm profile, on the 10 mm adapter plate | 844 to 1184 | 1194 to 1534 |
| Shoulder at the arm mount point (304 + column length + 166) | 1000 | 1350 |
| Head-camera lens line (shoulder + 223) | 1223 | 1573 |
Configuration IDs
Every configuration ID propagates to the robot description, TF, MoveIt, camera calibration, the configuration hash and the dataset metadata. The canonical list and the model live in openamr-upperbody-sw.
| Axis | IDs |
|---|---|
| Column | dold_v4_350, tl3_400 (fallback; lengths pending supplier data) |
| Base plate | bp000 (centre), bp050 (+50 mm) |
| Head-camera pitch | hp15, hp20, hp25 (baseline), hp30, hp35 |
| Base-camera tilt | bt05, bt10, bt15 |
The lift stops L1000, L1175 and L1350 are calibration IDs; the current lift height is joint state, not a configuration ID.
Next
Mass and stability explains the stability model and the rerun that option B requires.