4.1. TB3 硬體規格

Items	Burger 漢堡款	Waffle (已停產)	Waffle Pi 鬆餅Pi款
最大直線速度	0.22 m/s	0.26 m/s	0.26 m/s
最大轉動速度	2.84 rad/s (162.72 deg/s)	1.82 rad/s (104.27 deg/s)	1.82 rad/s (104.27 deg/s)
最大負載	15kg	30kg	30kg
大小 (長x寬x高)	138mm x 178mm x 192mm	281mm x 306mm x 141mm	281mm x 306mm x 141mm
重量 (+ SBC + Battery + Sensors)	1kg	1.8kg	1.8kg
Threshold of climbing	10 mm or lower	10 mm or lower	10 mm or lower
Expected operating time	2h 30m	2h	2h
Expected charging time	2h 30m	2h 30m	2h 30m
SBC (Single Board Computers)	Raspberry Pi 3 Model B and B+	Intel® Joule™ 570x	Raspberry Pi 3 Model B and B+
MCU	32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS)	32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS)	32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS)
Remote Controller	-	-	RC-100B + BT-410 Set (Bluetooth 4, BLE)
智能馬達	Dynamixel XL430-W250	Dynamixel XM430-W210	Dynamixel XM430-W210
LDS(Laser Distance Sensor)	360 Laser Distance Sensor LDS-01	360 Laser Distance Sensor LDS-01	360 Laser Distance Sensor LDS-01
Camera	-	Intel® Realsense™ R200	Raspberry Pi Camera Module v2.1
IMU	Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis	Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis	Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis
Power connectors	3.3V / 800mA 5V / 4A 12V / 1A	3.3V / 800mA 5V / 4A 12V / 1A	3.3V / 800mA 5V / 4A 12V / 1A
Expansion pins	GPIO 18 pins Arduino 32 pin	GPIO 18 pins Arduino 32 pin	GPIO 18 pins Arduino 32 pin
Peripheral	UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4	UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4	UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4
Dynamixel ports	RS485 x 3, TTL x 3	RS485 x 3, TTL x 3	RS485 x 3, TTL x 3
Audio	Several programmable beep sequences	Several programmable beep sequences	Several programmable beep sequences
Programmable LEDs	User LED x 4	User LED x 4	User LED x 4
Status LEDs	Board status LED x 1 Arduino LED x 1 Power LED x 1	Board status LED x 1 Arduino LED x 1 Power LED x 1	Board status LED x 1 Arduino LED x 1 Power LED x 1
Buttons and Switches	Push buttons x 2, Reset button x 1, Dip switch x 2	Push buttons x 2, Reset button x 1, Dip switch x 2	Push buttons x 2, Reset button x 1, Dip switch x 2
Battery	Lithium polymer 11.1V 1800mAh / 19.98Wh 5C	Lithium polymer 11.1V 1800mAh / 19.98Wh 5C	Lithium polymer 11.1V 1800mAh / 19.98Wh 5C
PC connection	USB	USB	USB
Firmware upgrade	via USB / via JTAG	via USB / via JTAG	via USB / via JTAG
Power adapter (SMPS)	Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A	Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A	Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A