Flexbot design
(→Design overview hardware) |
|||
| Line 7: | Line 7: | ||
* A linear actuator to adjust heading angle on the wheel. | * A linear actuator to adjust heading angle on the wheel. | ||
Each of the legs are interfaced and controlled by two μ-processor boards (Teensy 3.2 and 3.5). The boards are currently placed on matrix boards where other hardware components (IMU, motor driver, etc.) are accessible from. | Each of the legs are interfaced and controlled by two μ-processor boards (Teensy 3.2 and 3.5). The boards are currently placed on matrix boards where other hardware components (IMU, motor driver, etc.) are accessible from. | ||
| − | Each leg is split up in two parts which are presented as the [[# | + | Each leg is split up in two parts which are presented as the [[#Ankle hardware design|ankle configuration]] and the [[#Knee hardware design|knee configuration]]. The hardware design for robot's body is presented [[#Body hardware design|here]]. |
| − | == | + | ==Ankle hardware design== |
| − | The | + | The ankle configuration currently includes: |
* Angled DC motor to run the wheel - model IG42-CRGM | * Angled DC motor to run the wheel - model IG42-CRGM | ||
* SyRen 10 motor driver | * SyRen 10 motor driver | ||
| Line 17: | Line 17: | ||
* Firgelli L12-50-210-12-I linear actuator | * Firgelli L12-50-210-12-I linear actuator | ||
| − | The schematic for the | + | The schematic for the ankle configuration is shown in Figure 1 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/97591cdad92a1840/Teensy_Wheel_Configuration/ here]. |
| Line 24: | Line 24: | ||
Figure 1: Schematic for the lower leg for the Flexbot. | Figure 1: Schematic for the lower leg for the Flexbot. | ||
| − | == | + | ==Knee hardware design== |
| + | The knee configuration currently includes: | ||
| + | * A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-POT-IP66 | ||
| + | * Cytron 10A DC Motor Driver - model RB-Cyt-132 | ||
| + | * MPU to obtain tilt - model MPU-9250/6500 | ||
| + | * Teensy 3.5 μ-processor board | ||
| + | |||
| + | The schematic for the knee configuration is shown in Figure 2 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/09ebc8887ee10a31/Teensy_Knee_Configuration/ here]. | ||
| + | |||
| + | |||
| + | |||
==Body hardware design== | ==Body hardware design== | ||
Revision as of 08:26, 11 July 2017
Back to Flexbot main page
Contents |
Design overview hardware
Each "leg" of the flexbot consists of 4 actuators.
- An angled DC motor to control the wheel.
- Two linear actuators to control the motion of the robot's body.
- A linear actuator to adjust heading angle on the wheel.
Each of the legs are interfaced and controlled by two μ-processor boards (Teensy 3.2 and 3.5). The boards are currently placed on matrix boards where other hardware components (IMU, motor driver, etc.) are accessible from. Each leg is split up in two parts which are presented as the ankle configuration and the knee configuration. The hardware design for robot's body is presented here.
Ankle hardware design
The ankle configuration currently includes:
- Angled DC motor to run the wheel - model IG42-CRGM
- SyRen 10 motor driver
- Teensy 3.2 μ-processor board
- Pololu 24V to 5V voltage regulator - model D24V22F5
- Firgelli L12-50-210-12-I linear actuator
The schematic for the ankle configuration is shown in Figure 1 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given here.
Figure 1: Schematic for the lower leg for the Flexbot.
Knee hardware design
The knee configuration currently includes:
- A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-POT-IP66
- Cytron 10A DC Motor Driver - model RB-Cyt-132
- MPU to obtain tilt - model MPU-9250/6500
- Teensy 3.5 μ-processor board
The schematic for the knee configuration is shown in Figure 2 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given here.
