joenash / chargla

Repo containing files and documentation relating to Chargla

Chargla

About Chargla:

Chargla is a mobile robot prototype test platform for autonomously inserting a Tesla charger into the charge port. It is a collaboration between Viam Inc and Simone Giertz. Chargla has the following key modules:-

• Pre-fabricated base with Mecanum wheels to allow rotational and lateral motion for aligning the charger with the port
• Lift feature for adjusting the height of the charger so as to compensate for uneven ground or variability in tire pressure
• Pivoting feature using a parallelogram-based 4 bar linkage; for adjusting the charger angle for correct alignment with the port
• Insertion actuator for inserting and retracting the charger into the port receptacle
• Switch actuator for enabling the port actuation features to open/close the port door and enable charging
• Soft mounting system for allowing compliance of the charger during insertion to account for small misalignments
• Laser guide and dual camera system for autonomously tracking the charging port

Construction Guide:

Refer to the Chargla Construction Guide for details on the mechanical construction and electrical wiring.

Chargla BOM:

Refer to the Chargla BOM for a components list and ordering details.

CAD data:

CAD part files are in Solidworks (2021 edition) SLDPRT format. The full assembly is in STEP format - note that the Mecanum wheel/motor assemblies are excluded since this CAD is available from GrabCAD (refer to BOM for link).

Contact:

For assistance with this project contact Chris Payne