Raph Rover Specification
Key parameters​
| Parameter | Value |
|---|---|
| Dimensions (LxWxH) | 559 mm x 474 mm x 255 mm |
| Weight | 12.5 kg |
| Maximum payload | 10 kg |
| Maximum linear speed | 1.8 m/s |
| Maximum angular speed | 4.7 Rad/s |
| IP protection rating | IP 54 |
| Operating temperature | -10 °C to +40 °C |
| Run time | 4 hours* |
| Connection range | Up to 100 m |
* - infinite with hot swapping batteries
Rover overview​
Hardware​
Dimensions​
| Parameter | Value |
|---|---|
| Length x Width x Height | 559 mm x 474 mm x 255 mm |
| Weight | 12.5 kg |
| Track Width | 385 mm |
| Wheelbase length | 382 mm |
| Ground clearance | 80 mm |
| Wheel diameter | 170 mm |
Speed and performance​
| Parameter | Value |
|---|---|
| Maximum linear speed | 1.8 m/s |
| Maximum angular speed | 4.7 Rad/s |
| Climb grade (no payload) | 30° ( ~58%) |
| Climb grade with 5kg payload | 20° ( ~36%) |
| Climb grade with 10kg payload | 10° ( ~18%) |
| Hill grade traversal | 30° ( ~58%) |
| Nominal torque | 4 Nm |
| Maximum torque | 8 Nm |
Drivetrain​
Raph rover is equipped with two independent steering wheels on the rear of the robot. It enables great agility of the robot as well as precise manoeuvres such as:
- Following a curve
- Rotate around middle
- Rotate around front wheel
Components​
| Name | Quantity | Description |
|---|---|---|
| Built-in computer | 1 | UPBoard 7000 - Credit card-sized SBC based on the Intel N100 CPU - CPU: Intel® N100 quad-core (x86 architecture) - Memory: 8GB LPDDR5 - Storage: 64GB eMMC - Connectivity:  - 1 Gigabit LAN  - HDMI 1.4b  - 3 USB 3.2 Gen 2x1 (10 Gb/s)  - 2 USB 2.0/UART  - 40-pin GPIO header Full specification |
| Router | 1 | Teltonika RUTX10 - Industrial router with with Gigabit Ethernet, Bluetooth LE, and AC Wi-Fi. - WAN: 1 x 10/100/1000 Mbps - LAN: 3 x 10/100/1000 Mbps - Wi-Fi: 802.11b/g/n/ac Wave 2 (Wi-Fi 5) - Bluetooth: 4.0 Full specification |
| Controller | 1 | RaphCore - Custom Fictionlab's controller designed for Raph Rover. See more |
| Antenna | 2 | Dual-band (2.4 GHz / 5 GHz) placed on the rear of the robot. |
| Stereoscopic camera | 1 | Luxonis OAK-D Pro W IMX378 - a wide-angle camera with active stereo depth and high-resolution color capabilities. - RGB sensor: IMS 378 - RGB sensor resolution: 12 MP - RGB sensor DFOV: 120° - Stereo sensors: OV9282 - Stereo sensor resolution: 1 MP - Stereo sensor DFOV: 150° Full specification |
| Lidar | 1 | RPLidar S3 - 360-degree waterproof 2D Lidar scanner with a 40-meter range. - Coverage: 360° - Max range: 40 m - Sample rate: 32 kHz (32 000 points per second) - Angular resolution: 0.1125° Full specification |
| Battery | 2 | 6S (22.2V) 4 Ah Li-ion battery - Custom battery pack with hot-swappable connectors. See more |
| BLDC motors | 6 | BLDC motors with integrated controllers. Connected to RaphCore board via RS 485 bus. See more |
| LED strip | 4 | 143 RGBW Individually addressable LEDs. Used as rover status indicator as well as any custom purpose programmed by the user. - Form factor: 3535 - Density: 144 LEDs/m - Power: 23 W - Temperature: 6000-6500K. - Luminance R: 46; G: 156; B: 34; W:409 lm |
Component's diagram​
Battery​
Raph rover's batteries are enclosed in specially designed case, allowing them to be quick swappable. Each pack has its own BMS that manages charging, discharging and has built-in protections.
| Parameter | Value |
|---|---|
| Battery type | Li-Ion |
| Battery pack type | 6S1P |
| Cell type | Samsung 40T |
| Nominal voltage | 22.2 V |
| Capacity | 4000 mAh 88.8 Wh (flight safe) |
| Maximum output power | ~650 W |
| Safety systems | Overcurrent Undercurrent Reverse polarity Overheat |
RaphCore controller​
RaphCore serves as the primary control board for Raph Rover. The board leverages FreeRTOS and MicroROS to control rover tasks such as:
- Drivetrain control
- Power system management
- LED control
- IMU operation
- Odometry tracking
Operating conditions​
- Operating temperature range: -20°C - +50°C
- Nominal battery voltage: 24 V (Li-Ion 6S)
- External power input: 12 - 27 V DC
- Environmental protection: Over-voltage and reverse-polarity protection, PTC and TVS fuses on all major power lines
Power & Connectivity​
RaphCore integrates automatic source switching, current limiting and voltage
conversion between battery and external supply modes.
The design enables safe charging, load balancing, and protection against surges
or incorrect polarity.
| Connector | Description |
|---|---|
| Ethernet port | Standard RJ45 connector with onboard PHY for wired communication and networking. |
| Router power | 12 V / 1 A regulated output dedicated to powering an external Wi-Fi router. |
| Main computer power (UP Board) | 12 V / 5 A output supplying the onboard computer. |
| External power / charging port | Input for 12 - 27 V DC external power or battery charging. Includes reverse-polarity and surge protection, max 5 A. |
| 5 V output (2-pin) | 5 V / 4 A max (20 W) auxiliary power line for external devices mounted inside. Connector: Phoenix Contact MC 1,5 / 2-ST-3,5 |
| 12 V output (2-pin) | 12 V / 4 A max (48 W) auxiliary power line for external devices mounted inside. Connector: Phoenix Contact MC 1,5 / 2-ST-3,5 |
| BAT output (2-pin) | 18 - 25.2 V / 4 A max (100 W) direct battery line for high-power accessories mounted inside. Connector: Phoenix Contact MC 1,5 / 2-ST-3,5 |
| 5 V / 12 V / BAT power bus (6-pin) | Combined 6-pin connector providing 5 V, 12 V and BAT lines (the same as above). See more Connector: Phoenix Contact MC 1,5 / 6-ST-3,5 |
| Battery A / Battery B inputs | Dual Li-Ion 6S (24 V nominal) inputs with 30 A fuses and over-voltage protection. |
Control & Sensors​
| Component | Description |
|---|---|
| 8 x motor power connectors | Two motor sections (4 connectors each), up to 8 A combined per section. |
| 4 x inductive sensor inputs | Inputs for wheel encoders or proximity sensors. |
| LED strip output | 5 V / 5 A output with PWM control channel for addressable LED strips. |
| Power button / Emergency stop / Calibration button | Dedicated safety and control inputs for rover operation. |
| Programming port | SWD + UART interface for firmware upload and diagnostics. |
| IMU module | TDK ICM-42605 - 6-axis accelerometer and gyroscope. Acceleration: ±2 g / ±4 g / ±8 g / ±16 g Resolution: 16 bit Sensitivity: 2097.2 deg/s/LSB |
| Microcontroller | STM32H563VIT6 (Arm® Cortex®-M33, 250 MHz, 2 MB Flash, 640 kB RAM). |
Payload​
The Raph Rover is engineered for easy and versatile payload integration. If your sensor or hardware is ROS 2-compatible and falls within the rover's power (5V 4A, 12V 4A, and 24V 4A) and weight limits (10 kg), you can be confident in its compatibility.
External data ports​
| Interface | Notes | Device connected |
|---|---|---|
| USB type A | USB 3.2 Gen 1 (5 Gb/s) | UPBoard 7000 (Main computer) |
| USB type C | USB 3.2 Gen 1 (5 Gb/s) | UPBoard 7000 (Main computer) |
| HDMI | HDMI 1.4b | UPBoard 7000 (Main computer) |
| RJ-45 | 10/100/1000 Mb/s | Teltonika RUTX10 (Router) |
External power panel​
| Voltage | Max amperage | Max power | Connector |
|---|---|---|---|
| 2 x 5 V | 4 A | 20 W | Phoenix Contact MC 1,5/ 2-ST-3,5 |
| 2 x 12 V | 4 A | 48 W | Phoenix Contact MC 1,5/ 2-ST-5,08 |
| 2 x BAT (18-25.2 V) | 4 A | 100 W | Phoenix Contact MSTB 2,5/ 2-ST-5,08 |
note
Total amperage and power is shared between 2 connectors on the external panel, so for example it is possible to connect 1 device that uses 4 A or 2 devices that use 2 A each.
Mechanical connections​
| Parameter | Value |
|---|---|
| Payload capacity | 10 kg |
| Hole grid spacing | 25 mm x 25 mm |
| Mounting hole dimensions | 5.4 mm, compatible with: M5 screws CLS-M4-1 press-in nuts |
| Mounting plate dimensions (L x W x D) | 330 mm x 198 mm x 2 mm |
info
Apart from the mounting plate, it is possible to mount payloads directly to v-slot extrusions of the Raph Rover, effectively providing a 360 mm by 430 mm working area.
Software & Control​
| Parameter | Value |
|---|---|
| Operating System | Ubuntu 24.04 LTS |
| Core Framework | ROS 2 Jazzy |
| User Interface | Web-based GUI accessible over Wi-Fi |
| UI Features | Real-time teleoperation, live video streaming, system monitoring |
| API Access | Full control via standard ROS 2 topics, services, and actions |
| Software license | MIT License |
ROS nodes​
