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Weight
On a hard surface, a certain amount of extra weight will not shorten the AMR's run-time very much. When
adding a payload structure with substantial weight, the center of gravity of the entire AMR needs to be
considered. This is particularly important if you intend to equip the platform with a robot arm, which would
be lifting items off-center from the platform.
A heavy payload structure, with most of its weight concentrated just above the platform, will be much more
stable than the same weight payload structure in which the weight is either off-center or high above the top
of the platform.
The weight of your payload structure added to the weight of the parts it is carrying must not
exceed the rated capacity of your platform.
Payload Bay Access
The payload bay is the area between the LD platform and your payload structure. You will occasionally need
to access the LD platform and the connectors in the payload bay. This is where you can access all of the
platform power and I/O connectors. It's a good idea to provide for access to this when designing your
payload structure.
If the payload structure is small and light enough, it can just be lifted off of the platform to access the
connectors in the payload bay. Care should always be taken not to damage any wiring between your
payload structure and the platform.
A larger, heavier payload structure may need some form of hinge, so that the payload structure can be
tilted out of the way while you access the payload bay. Consideration should be given to harness length and
position so that this can be accomplished without disconnecting or damaging any connectors or harnesses.
Dimensions
You must keep your payload structure no wider and no longer than the LD platform.
The most common payload structure is a vertical extension of the platform, adding whatever features are
needed by your application above the platform itself.
Take care to keep all of the payload structure higher than the top of the LD platform. If any of the platform's
sensors get blocked, it won't be able to function normally. This is critical in the case of the safety scanning
laser.
If you purchased the optional vertical-mount lasers for your payload structure, you need to make sure that
the payload structure will not interfere with the view of those lasers. Typically, the vertical lasers are
mounted on the sides of the payload structure, so that they protrude enough to miss the payload structure
itself with the laser beam. Some customers have found it prudent to build a protective guard over the
vertical lasers, to protect the lasers from impact.
Ensure that any such guard does not block the laser beam.
The height of your payload structure will affect the center of gravity, covered in the next section.
23180-000 Rev A
Mobile Robot LD, LD-CT Assembly Instructions
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