Lesson Overview Lesson Overview Cell Differentiation Lesson Overview 10.4 Cell Differentiation.
Overview
description
Transcript of Overview
Overview 2 DOF in Head
4 DOF/Arm
1 DOF in Torso
6 DOF/ Leg
BODY DIMENSIONS
~25.5” Tall (feet to shoulder)
10” Shoulder Width2.5” Torso Width
Custom Servo Brackets4 Simple brackets for
multiple servo mounting orientations◦Side mount◦Bottom mount◦Large “C” bracket
Single plane dual axis rotation
◦Shoulder Rotation
Side Mount
Bottom Mount
Large “C”
Shoulder Rotation
LINKS & BRACKET INTEGRATION
Simple Aluminum rods, ¼”
Cut to length Height adjustability
Very cheap (~$7 per 6ft) Integrates into standard
servo brackets.Simple 6-32x1/2” machine screws for assembly
Custom Brackets
Store bought Brackets
Arm Assembly
HIP DESIGN Ball Bearing
◦ Axial and Radial Loads
◦ Low rotation friction
◦ Ball Bearings are cheap
Reduce stress on servo horn◦ Increased hip
Stiffness
-Green Rotation-Gray Static
TORQUE REQUIREMENTS
(cos(ϴ))+g1(L1/2)(cos(ϴ))
T2=(g2)(L2/2)(cos(ϴ))+(L2)(g3)
T3~0
T1
T2
T3
Squat
T3F
Leg Lift
Push up
F/2 F/2
Te Te
TORQUE RESULTS
ROBOARD SERVO SPECS• Standard size digital servo• Torque @7.4V: 35.0 kg-cm/486.0 oz-in• Speed: 0.11 sec/60º• Voltage: 6 to 7.4V • Weight: 70g
leg lift (1 leg) Squat (2 leg)Torque at Hip Ankle Knee
MAX (lb-in) 14.44402961 18.74911 18.73543
(oz-in) 231.1044738 299.9858 299.7669
FS 2.076982726 1.600076 1.601244
Elbow TorqueF (lbs) 5.118229269in-lb 16.53188054oz-in 264.5100886FS 1.837359031
weight (lbs)
foot (ALL) 1.4708Lower Leg Links 0.0415Knee servo 0.1543Knee C-Bracket 0.0300Knee bottom Bracket 0.0100TOTAL KNEE JOINT 0.1943Upper leg Links 0.0377Hip C-bracket 0.0300Hip servos 0.4630Hip Brackets 0.0522TOTAL HIP JOINT (1 side) 0.5451TOTAL ABOVE HIP (2 sides) 5.6574 8.2165Hip plate 0.1100Hip components 0.1500Torso plate bottom 0.1000Torso plate top 0.2100Torso servo 0.1543Torso links 0.6509Other torso weight 1.2000Shoulder servos 0.3086shoulder brackets 0.0522upper arm C-bracket 0.0300Upper arm servo 0.1543upper arm links 0.0188upper arm brackets 0.0500elbow servo 0.1543lower arm C-bracket 0.0300lower arm links 0.0377lower arm bracket 0.0100Neck 0.3000TOTAL BODY 10.2365 2.5591
Stress Analysis Bottom Bracket
Stress Hip/Shoulder Bracket
Stress Analysis Elbow Bracket
Stress Analysis Leg Assembly
Deformation Leg Assembly
Power CalculationPart Name Function Required
VoltageQuiescent
CurrentActive
CurrentPower / Per
Number TotalPower
EasyVR Speech Module
voice commands
5V 1mA 180mA .9W 1 0.9
RoBoard RB-110
maincomputer/processor
6-24V 400ma 2W 1 2
LV-MaxSonar-EZ0
ultrasonic rangefinder
2.5-5.5 2mA .01W 2 0.02
GP2Y0A02YK0
IR rangefinder 4.5-5.5 33mA 0.165 4 0.66
IMU Combo Board
Internal Gyro/Accelerom
eter
3.3V 45uA 6.75mA 0.022 1 0.022
RoBoard RS-1270
Servo 7.4 5mA 1.5~5A 11.1~37W
22 ~66
70W
Controller Model Roboard RB-100Processor DM&P Vortex86DX running at 1GHzMemory 256MB DDR2 onboardADCs Analog Devices AD-7918 10-bit
I /O Interface •Micro SD slot x1•USB port x 1 (USB 2.0 version)
Connectors
•2.54 mm 3-pin box header for PWM x 24•2.54 mm 10-pin box header for RS-232 x1•2.54 mm 10 -pin box header for USB x1•2.0 mm 4-pin header for RS-485 x1•2.0 mm 4-pin header for TTL serial x1•2.54 mm 10 -pin box header for SPI & I 2C x1•2.54 mm 16-pin header for A/D x1•1.25 mm 3 -pin wafer for TTL serial x 1•1.25 mm 4 -pin wafer for LAN x 1•1. 2 5 mm 4-pin wafer for MIC-in x 1•1. 2 5 mm 4-pin wafer for Line-out x1•1. 2 5mm 6-pin wafer for JTAG x1•0.8mm 124-Pin Mini PCI Card connector•3.96 mm 2 pin for Power x 1
Power Consumption +5V @ 400mAPower Input DC-in 6V to 24VDimension 96 x 56 mmWeight 40g
ResolutionPWM : 20nsSerial : 115200bpsI2C : 1Kbps ~ 3.3MbpsSPI : 10Mbps to 150Mbps Half-Duplex;