Product Structure: LIMO COBOT

Welcome to the Product Structure documentation for the LIMO COBOT platform — an integrated modular robotic system combining mobile autonomy, precision manipulation, and AI-powered perception.

Modular Components Breakdown

LIMO COBOT comprises the following key components:

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1. 🚗 Base Platform – LIMO (Mobile Robot Chassis)

• Manufacturer: AgileX Robotics
• Function: Mobile base with onboard compute, power, and sensor integrations
• Steering Modes:
  • Differential
  • Ackermann
  • Omni-directional
  • Tracked
• Wheel Type: Rubber all-terrain with independent suspension
• I/O Ports: USB, HDMI, Ethernet, CAN, UART
• Battery: 4S Li-ion with BMS (~40 min runtime)
• Model: LIMO PRO V2.0
• Application: Supports SLAM, navigation, autonomous driving algorithms

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2. 🦾 Robotic Arm – Elephant Robotics myCobot 280 (6-DoF)

• Reach: 280 mm
• Payload: 250 g
• Repeatability: ±0.5 mm
• Weight: ~850 g
• Material: Aluminum alloy + ABS plastic
• Degrees of Freedom: 6
• Connectivity: USB / Serial
• Mount: Swappable end-effector (grippers, suction, tools)
• Use Case: Pick-and-place, human gestures, lab automation, object sorting

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3. 🧠 Compute Module – NVIDIA Jetson Orin Nano

• CPU: ARM Cortex-A78AE
• GPU: Ampere architecture with 1024 CUDA cores
• AI Performance: Up to 40 TOPS
• Memory: 8 GB LPDDR5
• Interfaces: GPIO, I²C, UART, SPI, M.2
• OS: Ubuntu 20.04 with NVIDIA JetPack SDK
• Purpose: AI inference (YOLO, pose estimation), ROS2 nodes, sensor fusion

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4. 🔎 Depth Camera – Orbbec DaBai

• Sensor Type: Stereo depth + RGB
• Depth Resolution: 1280×720
• RGB Resolution: 1920×1080
• Depth Range: Up to 8 meters
• Field of View: ~90°
• Interface: USB 3.0
• Applications: Obstacle avoidance, 3D mapping, hand tracking, human interaction

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5. 🧭 Inertial Measurement Unit – IMU (e.g., MPU6050)

• Sensors:
  • 3-Axis Gyroscope
  • 3-Axis Accelerometer
• Purpose: Orientation, angular velocity, acceleration
• Usage: Pose estimation via sensor fusion (IMU + LiDAR + Odometry)

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6. 🧠 LiDAR Sensor – EAI T-mini Pro

• Type: 2D 360° LiDAR Scanner
• Range: 0.1 – 12 meters
• FOV: 360°
• Scan Frequency: Up to 15 Hz
• Angular Resolution: ≤ 0.25°
• Interface: USB / UART
• Use Case: SLAM, obstacle detection, autonomous navigation

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🔧 Physical Integration Layout

The components are compactly and logically mounted on the LIMO chassis:

• Robotic Arm: Top-front mounted — ensures optimal reachability
• Depth Camera (Orbbec DaBai): Front-mounted — eye-level for human-like perception
• LiDAR: Top-mounted — unobstructed 360° scanning
• IMU: Internally centered — stable motion tracking
• Jetson Orin Nano: Internally mounted with thermal design considerations

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🧱 Capability Stack Overview

Layer	Modules	Functional Role
Perception	Orbbec DaBai, LiDAR	Vision, mapping, depth sensing, SLAM
Intelligence	NVIDIA Orin Nano	AI computation, decision-making, sensor processing
Mobility	LIMO Chassis	Locomotion, terrain traversal, autonomous driving
Manipulation	myCobot 280	Grasping, actuation, interaction
Sensing & Feedback	IMU, LiDAR	Pose estimation, obstacle awareness, localization

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