23180-000 Rev A Mobile Robot LD, LD-CT Assembly Instructions 11
Cart: A cart, on four casters, that can be attached to an LD Platform Cart Transporter, for increasing the
payload capacity of the LD Platform, as well as de-coupling its load from the robot platform. The cart has
brakes on two casters, which can be released either by coupling with a transporter, or by using a manual
brake-release lever on the cart
3.3 Product Description
The LD platform is a general-purpose, mobile robot platform, designed for working indoors and around
people. It is self-guided and self-charging, with an automated docking station.
The LD platform is available in two versions, designed to carry loads up to 60 kg (132 lb) for the LD-60 and
90 kg (198 lb) for the LD-90 platform. Where appropriate, differences between the models are called out.
Otherwise, this manual applies to both platforms.
The LD Platform Cart Transporter is designed for moving a detachable cart indoors, and around people.
The LD Platform Cart Transporter is available in two models, designed to transport carts with a payload up
to 105 kg (231 lb) for the LD-105CT and 130 kg (287 lb) for the LD-130CT platform. Where appropriate,
differences between the models are called out. Otherwise, this manual applies to both LD Platform Cart
Transporters.
Considerations for the LD Platform will generally also apply to the LD Cart Transporter unless otherwise
specified. The LD Cart Transporter will have considerations that do not apply to the LD Platform, and it can
be assumed that if the LD Cart Transporter is being addressed specifically, that the topic is not applicable to
the base LD Platform.
The LD platform combines hardware and mobile-robotics software to provide an intelligent, mobile
platform to support and transport your payload structure. The platform comes complete with the ability to
know where it is within a workspace, and to navigate safely and autonomously to any accessible destination
within that workspace, continuously and without human intervention.
Its primary guidance uses a safety scanning laser to navigate, comparing the laser readings to a digital map
stored on the platform. Additional sensing for obstacle avoidance is provided by two rear-facing sonar
pairs, a front-sensing bumper, and another scanning laser mounted below the safety-scanning laser for
detecting obstacles approximately 60 mm above the ground. Additional sensing for navigation is provided
by a gyroscope mounted on the internal LD core, and encoders and Hall sensors on each drive wheel.
In addition to the front safety scanning laser, each LD Platform Cart Transporter has two side lasers,
oriented so that their scanning plane is perpendicular to the ground for detecting potential obstacles in its
path that can’t be detected by the safety scanning laser. It also has, a rear-facing obstacle-detection laser, to
ensure that it is safe for the transporter to back up or turn in place.
For most applications, you will want to customize the platform with a payload structure, attached to the top
of the platform, for some combination of picking up, transporting, and dropping off your parts, samples, or
documents. Refer to Payload Structures (see section 7) on guidelines on designing a payload structure. The
LD Cart Transporter is itself an application-specific payload structure; no modifications should be made to
the LD Cart Transporter’s platform if they would interfere with the safe operation of the onboard equipment
for capturing the cart and locking it to the platform.
The LD platform provides a variety of interfaces and power connections to support your application-specific
sensors and accessories, mounted on your payload structure. Refer to Connectivity (see section 8), for
information on the available connectors on the LD platform. The LD Cart Transporter provides user-facing
IO and power somewhat differently, with an additional circuit board. In the case that you need to add any
connections mentioned in section 8 for the LD Cart Transporter you’ll need to reference the LD Cart
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