Flexbot design

Back to Flexbot main page

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 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.

Error creating thumbnail:

Figure 1: Schematic for the lower leg for the Flexbot.