Flexbot parts list
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Back to [[Flexbot]] main page | Back to [[Flexbot]] main page | ||
| + | |||
| + | =Introduction= | ||
This page should hold the complete parts list for Flexbot. When adding a new component, please update correspondingly. | This page should hold the complete parts list for Flexbot. When adding a new component, please update correspondingly. | ||
| − | = | + | =PCB and cables= |
| + | |||
| + | The printed circuit boards and cabling are described here: | ||
| + | |||
| + | All [[PCB]] and connector pinout | ||
| + | |||
| + | [[File:leg_teensy_board.png | 600px]] | ||
| + | |||
| + | =Legs= | ||
| + | |||
| + | ==Hip section== | ||
| + | |||
| + | * MPU-9250/6500 | ||
| + | * [https://www.transmotec.se/produkt/dla-12-20-a-250-hs2-ip65/ DLA-12-10-A-150-HS2-ip65] - Transmotec actuator 12V, 300N, 15cm stroke, with magnetic encoder. | ||
==Knee section== | ==Knee section== | ||
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* [https://www.transmotec.se/produkt/dla-12-20-a-250-hs2-ip65/ DLA-12-20-A-250-HS2-ip65] - Transmotec actuator 12V, 500N, 25cm stroke, with magnetic encoder. Each encoder channel deliveres 13.8 transitions every mm, i.e. two channels delivers a transition every 0.0362mm. At 20V (0.8A no load) motor voltage (12V motor) the hall channel period is T=6.2ms => 23mm/s, at 12V (0.65A no load) T=10.2ms => 14.9mm/s. 12V full stroke 17 sek (25cm) = 14.7mm/s. | * [https://www.transmotec.se/produkt/dla-12-20-a-250-hs2-ip65/ DLA-12-20-A-250-HS2-ip65] - Transmotec actuator 12V, 500N, 25cm stroke, with magnetic encoder. Each encoder channel deliveres 13.8 transitions every mm, i.e. two channels delivers a transition every 0.0362mm. At 20V (0.8A no load) motor voltage (12V motor) the hall channel period is T=6.2ms => 23mm/s, at 12V (0.65A no load) T=10.2ms => 14.9mm/s. 12V full stroke 17 sek (25cm) = 14.7mm/s. | ||
* [http://www.robotshop.com/en/cytron-13a-5-30v-single-dc-motor-controller.html Cytron 10A DC Motor Driver] - model RB-Cyt-132 | * [http://www.robotshop.com/en/cytron-13a-5-30v-single-dc-motor-controller.html Cytron 10A DC Motor Driver] - model RB-Cyt-132 | ||
| − | * [https://www.sparkfun.com/products/13762 MPU-9250/6500] - IMU | + | * [https://www.sparkfun.com/products/13762 MPU-9250/6500] - IMU (x3) --- nej, ikke Sparkfun, men det "blå" breakout print - dog lille sparkfun til version B print. |
* [https://www.pjrc.com/store/teensy35.html Teensy 3.5] - μ-processor board | * [https://www.pjrc.com/store/teensy35.html Teensy 3.5] - μ-processor board | ||
* [https://www.pololu.com/product/2858 Pololu D24V22F5] - 24V to 5V voltage regulator | * [https://www.pololu.com/product/2858 Pololu D24V22F5] - 24V to 5V voltage regulator | ||
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* [http://www.trossenrobotics.com/p/figelli-L12-50mm-210-1-Linear-Actuator.aspx Firgelli L12-50-210-12-l] - steering actuator (12V) 5cm stroke, with controller | * [http://www.trossenrobotics.com/p/figelli-L12-50mm-210-1-Linear-Actuator.aspx Firgelli L12-50-210-12-l] - steering actuator (12V) 5cm stroke, with controller | ||
| − | * [https://www.superdroidrobots.com/shop/item.aspx/ig42-24vdc-right-angle-240-rpm-gear-motor-with-encoder/1832/ IG42CR0024x00020R] - 24V drive motor with 20 pulse encoder | + | * [https://www.superdroidrobots.com/shop/item.aspx/ig42-24vdc-right-angle-240-rpm-gear-motor-with-encoder/1832/ IG42CR0024x00020R] - 24V drive motor with 20 pulse encoder, gear 1:24. |
* [https://www.dimensionengineering.com/products/syren10 TE-098-110] - SyRen 10A motor driver (24V) | * [https://www.dimensionengineering.com/products/syren10 TE-098-110] - SyRen 10A motor driver (24V) | ||
* [http://ams.com/eng/Products/Magnetic-Position-Sensors/Angle-Position-On-Axis/AS5047P as5047] - angle encoder for damper position | * [http://ams.com/eng/Products/Magnetic-Position-Sensors/Angle-Position-On-Axis/AS5047P as5047] - angle encoder for damper position | ||
* [https://www.pololu.com/product/2858 Pololu D24V22F5] - 24V to 5V voltage regulator | * [https://www.pololu.com/product/2858 Pololu D24V22F5] - 24V to 5V voltage regulator | ||
* [https://www.pololu.com/product/2855 Pololu D24V22F12] - 24V to 12V voltage regulator | * [https://www.pololu.com/product/2855 Pololu D24V22F12] - 24V to 12V voltage regulator | ||
| − | |||
* Connectors and headers for the electronics - to be determined later. | * Connectors and headers for the electronics - to be determined later. | ||
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=Body= | =Body= | ||
| − | * (link) - main PC (Intel Nuc | + | * (link) - main PC (Intel Nuc i5?) |
| − | * ( | + | * 24V -> 19V NUC power 100w (https://www.cartft.com/catalog/il/2026) |
| − | * ( | + | * batteries (LiPo - 5Ah, 2 x 3 cells 22.2V nominel (110Wh), (20-29V aktuelt) |
| + | * charger 2x e430 SKYrc 2-4 cell (https://www.motionrc.eu/pages/search-results-page?q=e430+30w) | ||
| + | * USB3 hub 7 port 24V (https://www.cartft.com/catalog/il/1978) | ||
==Mechanics== | ==Mechanics== | ||
| − | + | ||
| + | Description - of some of the 3D printed parts | ||
| + | |||
| + | [[File:steer-mount-parts.png|400pix]] | ||
| + | |||
| + | Parts for steering actuator mounting. | ||
| + | |||
| + | [[File:wheel-rear-left+right_ann.png|350pix]] | ||
| + | |||
| + | Parts for foot rear set, left and right. | ||
| + | |||
| + | |||
| + | ---- | ||
| + | --[[User:Jca|Jca]] ([[User talk:Jca|talk]]) 13:02, 9 June 2018 (CEST) | ||
Latest revision as of 11:11, 6 November 2018
Back to Flexbot main page
Contents |
[edit] Introduction
This page should hold the complete parts list for Flexbot. When adding a new component, please update correspondingly.
[edit] PCB and cables
The printed circuit boards and cabling are described here:
All PCB and connector pinout
[edit] Legs
[edit] Hip section
- MPU-9250/6500
- DLA-12-10-A-150-HS2-ip65 - Transmotec actuator 12V, 300N, 15cm stroke, with magnetic encoder.
[edit] Knee section
- DLA-12-20-A-250-HS2-ip65 - Transmotec actuator 12V, 500N, 25cm stroke, with magnetic encoder. Each encoder channel deliveres 13.8 transitions every mm, i.e. two channels delivers a transition every 0.0362mm. At 20V (0.8A no load) motor voltage (12V motor) the hall channel period is T=6.2ms => 23mm/s, at 12V (0.65A no load) T=10.2ms => 14.9mm/s. 12V full stroke 17 sek (25cm) = 14.7mm/s.
- Cytron 10A DC Motor Driver - model RB-Cyt-132
- MPU-9250/6500 - IMU (x3) --- nej, ikke Sparkfun, men det "blå" breakout print - dog lille sparkfun til version B print.
- Teensy 3.5 - μ-processor board
- Pololu D24V22F5 - 24V to 5V voltage regulator
- Connectors and headers for the electronics - to be determined later.
- - fjederben
[edit] Foot
- Firgelli L12-50-210-12-l - steering actuator (12V) 5cm stroke, with controller
- IG42CR0024x00020R - 24V drive motor with 20 pulse encoder, gear 1:24.
- TE-098-110 - SyRen 10A motor driver (24V)
- as5047 - angle encoder for damper position
- Pololu D24V22F5 - 24V to 5V voltage regulator
- Pololu D24V22F12 - 24V to 12V voltage regulator
- Connectors and headers for the electronics - to be determined later.
[edit] Mechanics
- FIDRacing DBXL front hub (FIDXL032) steering parts, including axle (but no wheel nut)
- RovalLosi LT Wheel nut
- RovanLosi LT tyre inner foam
- -tire?
- (link) - flex coupling between motor and wheel
- (link) - 6mm axle
[edit] Body
- (link) - main PC (Intel Nuc i5?)
- 24V -> 19V NUC power 100w (https://www.cartft.com/catalog/il/2026)
- batteries (LiPo - 5Ah, 2 x 3 cells 22.2V nominel (110Wh), (20-29V aktuelt)
- charger 2x e430 SKYrc 2-4 cell (https://www.motionrc.eu/pages/search-results-page?q=e430+30w)
- USB3 hub 7 port 24V (https://www.cartft.com/catalog/il/1978)
[edit] Mechanics
Description - of some of the 3D printed parts
Parts for steering actuator mounting.
Parts for foot rear set, left and right.
