Flexbot design
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* 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 via a motor driver and receives feedback from the actuators encoder signals. | Each of these actuators is controlled by a μ-processor board (Teensy 3.2). The Teensy controls the actuators via a motor driver and receives feedback from the actuators encoder signals. | ||
| − | Each leg is split up in two parts which are presented as the [[#Lower leg hardware design|lower leg]] and the [[#Upper leg hardware design|upper leg]]. | + | Each leg is split up in two parts which are presented as the [[#Lower leg hardware design|lower leg]] and the [[#Upper leg hardware design|upper leg]]. The hardware design for robot's body is presented [[#Body hardware design|here]]. |
==Lower leg hardware design== | ==Lower leg hardware design== | ||
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==Upper leg hardware design== | ==Upper leg hardware design== | ||
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| + | ==Body hardware design== | ||
Revision as of 09:50, 6 July 2017
Back to Flexbot main page
Contents |
Design overview hardware
Each "leg" of the flexbot consists of 3 actuators.
- An angled DC motor to control the wheel.
- 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 via a motor driver and receives feedback from the actuators encoder signals. Each leg is split up in two parts which are presented as the lower leg and the upper leg. The hardware design for robot's body is presented here.
Lower leg hardware design
The lower leg 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 lower leg is shown in Figure 1 and can be forked and edited using the free online e-CAD design tool Upverter. Link to the project on Upverter is given here.
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Figure 1: Schematic for the lower leg for the Flexbot.
