TurtleBot3 has three different models: Burger, Waffle and Waffle Pi. The following list shows their components. The big differences between three models are the Motor, the SBC (Single Board Computer) and the Sensors. The TurtleBot3 Waffle model is discontinued due to discontinuation of Intel® Joule™.
| Part Name | Burger | Waffle | Waffle Pi | |
|---|---|---|---|---|
| Chassis Parts | Waffle Plate | 8 | 24 | 24 |
| . | Plate Support M3x35mm | 4 | 12 | 12 |
| . | Plate Support M3x45mm | 10 | 10 | 10 |
| . | PCB Support | 12 | 12 | 12 |
| . | Wheel | 2 | 2 | 2 |
| . | Tire | 2 | 2 | 2 |
| . | Ball Caster | 1 | 2 | 2 |
| . | Camera Bracket | 0 | 0 | 1 |
| Motors | DYNAMIXEL (XL430-W250-T) | 2 | 0 | 0 |
| . | DYNAMIXEL (XM430-W210-T) | 0 | 2 | 2 |
| Boards | OpenCR1.0 | 1 | 1 | 1 |
| . | Raspberry Pi 3 | 1 | 0 | 1 |
| . | Intel® Joule™ | 0 | 1 | 0 |
| . | USB2LDS | 1 | 1 | 1 |
| Remote Controllers | BT-410 Set (Bluetooth 4, BLE) | 0 | 0 | 1 |
| . | RC-100B (Remote Controller) | 0 | 0 | 1 |
| Sensors | LDS (HLS-LFCD2) | 1 | 1 | 1 |
| . | Intel® Realsense™ R200 | 0 | 1 | 0 |
| . | Raspberry Pi Camera Module v2.1 | 0 | 0 | 1 |
| Memorys | MicroSD Card | 1 | 0 | 1 |
| Cables | Raspberry Pi 3 Power Cable | 1 | 0 | 1 |
| . | Intel® Joule™ Power Cable | 0 | 1 | 0 |
| . | Li-Po Battery Extension Cable | 1 | 1 | 1 |
| . | DYNAMIXEL to OpenCR Cable | 2 | 2 | 2 |
| . | USB Cable | 2 | 2 | 2 |
| . | Camera Cable | 0 | 0 | 1 |
| Powers | SMPS 12V5A | 1 | 1 | 1 |
| . | A/C Cord | 1 | 1 | 1 |
| . | LIPO Battery 11.1V 1,800mAh | 1 | 1 | 1 |
| . | LIPO Battery Charger | 1 | 1 | 1 |
| Tools | Screw driver | 1 | 1 | 1 |
| . | Rivet tool | 1 | 1 | 1 |
| . | USB3.0 Hub | 0 | 1 | 0 |
| Miscellaneous | PH_M2x4mm_K | 8 | 8 | 8 |
| . | PH_T2x6mm_K | 4 | 8 | 8 |
| . | PH_M2x12mm_K | 0 | 4 | 4 |
| . | PH_M2.5x8mm_K | 16 | 12 | 16 |
| . | PH_M2.5x12mm_K | 0 | 18 | 20 |
| . | PH_T2.6x12mm_K | 16 | 0 | 0 |
| . | PH_M2.5x16mm_K | 4 | 4 | 4 |
| . | PH_M3x8mm_K | 44 | 140 | 140 |
| . | NUT_M2 | 0 | 4 | 4 |
| . | NUT_M2.5 | 20 | 18 | 24 |
| . | NUT_M3 | 16 | 96 | 96 |
| . | Rivet_1 | 14 | 20 | 22 |
| . | Rivet_2 | 2 | 2 | 2 |
| . | Spacer | 4 | 4 | 4 |
| . | Silicone Spacer | 0 | 0 | 4 |
| . | Bracket | 5 | 8 | 6 |
| . | Adapter Plate | 1 | 1 | 1 |
TurtleBots3 is delivered as unassembled parts in the boxes. Follow the instructions to assemble TurtleBot3.
Download PDF Assembly manual for TurtleBot3 BurgerDownload PDF Assembly manual for TurtleBot3 WaffleDownload PDF Assembly manual for TurtleBot3 Waffle PiIf it is difficult to assemble with the assembly manual, please refer to the following assembly video.
Core components of Turtlebot3 are the followings: Chassis, Motors, Wheels, OpenCR, SBC, Sensors and Battery. The chassis are Waffle Plates that holds other components. The Waffle Plate plays an important role as a chassis although its size is as small as your palm. The Waffle Plate is manufactured with injection mold method to lower the manufacturing cost. However, the CAD data of Waffle Plate for 3D printing is also available via Onshape. Turtlebot3 Burger is a Two-wheeled differential drive type platform, but it is customizable structurally and mechanically in many ways: Segway, Tank, Bike, Trailer and so on.
The CAD data is released to the Onshape, which is a full-cloud 3D CAD editor. Get access through a web browser from your PC or from portable devices. Onshape allows drawing and assemblying parts with co-workers.