Planned
Hardware architecture (BOM Issue 7.7)
Canonical source: the OpenAMRobot 2.0 development BOM and evidence register maintained by the platform lead. It is an internal working document that is not yet committed to a repository; it will be published in openamr-platform-hw with the electrical release. This page follows BOM Issue 7.7 of 12 October 2026 and P-03 revision 19.0 items 13 to 19.
Applies to: OpenAMRobot 2.0, development cycle 2. For the robot that has been built and driven, see the current hardware architecture.
Interactive diagram withdrawn
The interactive connection diagram generated from BOM Issue 7 (27 September 2026) is superseded by BOM Issue 7.7 and is no longer embedded here. A new diagram is regenerated with the electrical release (F7), which also provides the schematics and harness drawings. Do not wire hardware from this page.
The architecture in one table
| Subsystem | Selection | Notes |
|---|---|---|
| Compute | Seeed reComputer Robotics J401 carrier with NVIDIA Jetson Orin NX 16 GB and an NVMe SSD (the Robotics J401, not the classic J401) | ROS 2 Jazzy, Nav2, perception and the arm stack |
| Base controller | Gate A: the existing Teensy 4.0 on the legacy robot (PWM drivetrain, MPU6500). Gate B: STM32H723ZG on a NUCLEO-H723ZG bench board (replaces the STM32H743 / NUCLEO-H743ZI2, P-03 rev18.5 item 14) with the ZLAC8015D over CANopen | Portable C core, same firmware contract on both targets; release path decided 6 November, Teensy behind the I8 contract is the documented fallback |
| Drive bus | CAN1, 500 kbit/s, CANopen to the ZLAC8015D V4.2 driver | Two ZLLG80ASM250-L-B hub motors with integrated holding brakes (spring-applied function and ratings pending the supplier evidence, F2A) |
| Battery bus | CAN2, 250 kbit/s, isolated, Daly 150 A BMS | 8S1P EVE LF105 LiFePO4, 25.6 V, 105 Ah |
| Auxiliary bus | CAN3 on the third FDCAN, reserved for upper-body actuators | CAN mapping on the STM32H723: CAN1 traction, CAN2 BMS, CAN3 reserved for upper-body actuators; no CAN3 node is assigned yet |
| Safety chain | Dual-channel E-stops (base and chest), two monitored series contactors, fuse and disconnect | Hardware chain; firmware observes it and applies a secondary inhibit only |
| IMU | ICM-42688-P on a mikroBUS board (MIKROE-4237) over SPI on the STM32; imu_link on the centreline at x 0.195 m from base_link, axes aligned with base_link; WHO_AM_I 0x47 at boot |
Raw data published by firmware on /imu/data_raw, filtered data by the host EKF on /imu/data. The conditional adoption after a same-robot comparison on 20 November is superseded by P-03 rev19.0 |
| IMU, Gate A unit | MPU6500 on the Teensy 4.0 over I2C, on the legacy robot with the Jetson | Gate A only; not part of the OpenAMRobot 2.0 build |
| Navigation LiDAR | SLAMTEC RPLIDAR S3 (S3M1-R2) on USB, regulated 5 V rail; lidar_link (0.330, 0, 0.124) from base_link, yaw pi, beam 222.0 mm above the floor |
Functional sensing, not a safety device. The Hokuyo UST-10LX is superseded |
| Base camera | Orbbec Gemini 336L, housing centre on the old camera centre, 142.5 mm above the floor; base_camera_link (0.376, 0, 0.0445) from base_link; front-panel opening about 126 x 36 mm |
Up-tilt configurations bt05, bt10 (baseline) and bt15; shared with docking |
| Near-field sensors | Four MaxBotix MB7060 ultrasonic sensors in the front and rear panel edge holes (27.5 mm, y = ±0.130 m, 91.4 mm above the floor), each on its own STM32 UART; two Benewake TF-Luna ToF cliff sensors in the front and rear panel centre holes (22.0 mm; the rear hole is new), one UART each | Frames us_front_left, us_front_right, us_rear_left, us_rear_right, tof_front, tof_rear |
| Head and wrist cameras | Stereolabs ZED Mini on the lift carriage, pitch 15 to 35 degrees down (exact interface pending the supplier mapping), one camera per gripper | Calibrated as a set with the base camera |
| Arms | Two OpenArm 2.0 arms with grippers, CAN-FD | On the lift carriage; shoulder 1000 to 1350 mm at the OpenArm arm mount point, 180 mm ahead of the lift-column axis on a two-position base plate. 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, so the OpenArm J1_A mount points are at x = +0.240 m and +0.290 m. The complete robot must remain at or below the 1700 mm assembled-height envelope |
| Operator panel | Getac ZX10 detachable tablet | Non-authoritative; no actuation path |
Navigation LiDAR (P-03 revision 19.0, items 13 and 19)
The OpenAMRobot 2.0 navigation LiDAR is the SLAMTEC RPLIDAR S3 (model S3M1-R2). It replaces the RPLIDAR A1 of the existing robot. Its pose, beam height and role are in the table above.
| Item | Value |
|---|---|
| Data link | USB to the Jetson through a USB to UART adapter |
| Driver | sllidar_ros2 at 1,000,000 baud; publishes /scan in frame lidar_link |
| Supply | Regulated 5 V rail: 4.9 to 5.2 V, ripple at most 150 mV, start current 1.2 A, running current 0.45 A typical. There is no 12 V rail and no separate 24 V LiDAR branch |
| Mounting | Existing MMP.07 A1 bracket and its 10 mm standoffs plus a 7.1 mm spacer plate. The S3 scan plane is 30.55 mm above its bottom face, so the beam sits at the same height as the A1 beam. 4 x M2.5 mounting, screw engagement at most 4 mm |
| Frame | base_link is at the drive-axle midpoint, 98.0 mm above the floor. Gate A unit (RPLIDAR A1 on the existing robot): x 0.335, z 0.18 |
| Body filter | scan_body_filter_real.yaml from v0.0.1, kept unchanged for the S3 |
| Scan window | Fully open, no translucent cover |
| Backup | RPLIDAR S2E, only if the S3 is unavailable |
What changes when the BOM changes
The table follows BOM Issue 7.7. When a later BOM issue or P-03 revision changes a value, this page is updated in the same pull request as the other pages that state it. A page carrying an older BOM issue than the register is out of date; report it through the feedback link rather than editing values by hand.
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General arrangement shows where these components sit on the robot.