Flexbot design

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==Design overview hardware==
 
==Design overview hardware==
Each "leg" of the flexbot consists of 3 actuators.  
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Each "leg" of the flexbot consists of 4 actuators.  
 
* An angled DC motor to control the wheel.
 
* An angled DC motor to control the wheel.
 
* Two linear actuators to control the motion of the robot's body.
 
* Two linear actuators to control the motion of the robot's body.
Each of these actuators is controlled by a μ-processor board (Teensy 3.2). The Teensy controls the actuators either directly or via a motor driver and receives feedback from the actuators encoder signals. A general hardware block diagram for a Teensy configuration is shown in Figure 1.
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* A linear actuator to adjust heading angle on the wheel.
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Each of the legs are interfaced and controlled by μ-processor boards (Teensy 3.5).
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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]].
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A complete 3D model of the robot is available using the online CAD software Onshape.com - JCA should be contacted for sharing and editing the model.
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Each leg part is connected with a two parallel stretches (mostly carbon tubes), each 4 carbon tubes, from foot to knee and from knee to hip (see also
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[[Flexbot 3D print]]).
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[[File:tube_geometry.png]]
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Figure 1. Basic geometry for both upper and lower leg.
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[[File:Flexbot_teensy_hardware_blockdiagram.png‎ | 500px]]
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Figure 1: General hardware block diagram of the Teensy configuration.
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--[[User:Jca|Jca]] ([[User talk:Jca|talk]]) 13:01, 9 June 2018 (CEST)

Latest revision as of 12:01, 9 June 2018

Back to Flexbot main page

[edit] 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 μ-processor boards (Teensy 3.5). 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.

A complete 3D model of the robot is available using the online CAD software Onshape.com - JCA should be contacted for sharing and editing the model.

Each leg part is connected with a two parallel stretches (mostly carbon tubes), each 4 carbon tubes, from foot to knee and from knee to hip (see also Flexbot 3D print).

Tube geometry.png

Figure 1. Basic geometry for both upper and lower leg.



--Jca (talk) 13:01, 9 June 2018 (CEST)

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