Flexbot design
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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. The hardware block diagram for a Teensy configuration is shown in Figure 1. | 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. The hardware block diagram for a Teensy configuration is shown in Figure 1. | ||
| − | [[File:Flexbot_teensy_hardware_blockdiagram.png | | + | [[File:Flexbot_teensy_hardware_blockdiagram.png | 500px]] |
Figure 1: Hardware block diagram of the Teensy configuration. | Figure 1: Hardware block diagram of the Teensy configuration. | ||
Revision as of 09:21, 26 June 2017
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 either directly or via a motor driver and receives feedback from the actuators encoder signals. The hardware block diagram for a Teensy configuration is shown in Figure 1.
Figure 1: Hardware block diagram of the Teensy configuration.
