Chapter 4. Designing ChefBot Hardware

In this chapter, we will discuss the design and working of ChefBot hardware and selection of its hardware components. In the previous chapter, we designed and simulated the basic robot framework in a hotel environment using Gazebo and ROS, and tested various measurements like robot body mass, motor torque, wheel diameter, and so on. Also, we tested the autonomous navigation capability of ChefBot in a hotel environment.

To achieve this goal in hardware, we need to select all hardware components and find how to interconnect all these components. We know that the main functionality of this robot is navigation; this robot will have the ability to navigate from the start position to the end position without any collision with its surroundings. We will discuss the different sensors and hardware components required to achieve this goal. We will see a block diagram representation and its explanation, and also discuss the main working of the robot....