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
Refer to the Chargla Construction Guide for details on the mechanical construction and electrical wiring.
Refer to the Chargla BOM for a components list and ordering details.
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).
For assistance with this project contact Chris Payne