Flexbot design - Revision history

Jca at 11:01, 9 June 2018

2018-06-09T11:01:20Z

← Older revision		Revision as of 13:01, 9 June 2018
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	Figure 1. Basic geometry for both upper and lower leg.		Figure 1. Basic geometry for both upper and lower leg.


			----

			--[[User:Jca\|Jca]] ([[User talk:Jca\|talk]]) 13:01, 9 June 2018 (CEST)

Jca at 08:26, 9 June 2018

2018-06-09T08:26:24Z

← Older revision		Revision as of 10:26, 9 June 2018
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	Figure 1. Basic geometry for both upper and lower leg.		Figure 1. Basic geometry for both upper and lower leg.

	~~==Ankle hardware design==~~
	~~The ankle configuration currently includes:~~
	* Angled DC motor to run the wheel - model IG42-CRGM (https://www.superdroidrobots.com/shop/item.aspx/ig42-24vdc-right-angle-240-rpm-gear-motor-with-encoder/1832/)
	* SyRen 10 motor driver - see [[Syren 10A motorcontroller\| Syren 10A motorcontroller]]
	* Firgelli L12-50-210-12-I linear actuator

	~~==Knee hardware design==~~
	~~The knee configuration currently includes:~~
	* A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-IE?-IP66 (2 each leg)
	* Cytron 10A DC Motor Driver - model RB-Cyt-132
	* MPU to obtain tilt - model MPU-9250/6500 - in total 5 each leg.
	* Teensy 3.5 μ-processor board
	* Pololu 24V to 5V voltage regulator - model D24V22F5
	* Pololu 24V to 12V voltage regulator - model D24V??F12 - for steering actuator

	~~===Open items (to-do list)===~~
	This list includes items that needs to be done, but have not been finished yet. This serves as reference for where to start when catching up on the project. This list should be updated as items are finished and finished items should be moved to the list which represents the current configuration of the knee. The responsibility of updating the schematic and git repository falls to the person responsible for carrying out the open item. This way the documentation both here and on git reflects the current state of the ankle configuration.

	* The encoder counts for the DC motor at the ankle is still giving issues after ferrit cores.

	~~==Body hardware design==~~
	~~The design of the body hardware has not been started yet. A few ideas have been discussed bot nothing final has been decided upon. The body hardware design will first be relevant in mid/late autumn.~~
	~~A few discussed ideas of what the body hardware design should include are listed below:~~
	* An Intel Nuc i7 configuration: https://www.intel.com/content/www/us/en/products/boards-kits/nuc/kits.html
	* A USB hub or at least enough connections to connect all Teensy μ-processor boards. This will sum up to 8 μ-processor boards (2 on each leg).
	* A main power supply. Should be 24V obtained from LiPo batteries or other mobile source.

Jca: /* Ankle hardware design */

2018-04-22T11:55:43Z

Ankle hardware design

← Older revision		Revision as of 13:55, 22 April 2018
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	==Ankle hardware design==		==Ankle hardware design==
	The ankle configuration currently includes:		The ankle configuration currently includes:
	* Angled DC motor to run the wheel - model IG42-CRGM		* Angled DC motor to run the wheel - model IG42-CRGM (https://www.superdroidrobots.com/shop/item.aspx/ig42-24vdc-right-angle-240-rpm-gear-motor-with-encoder/1832/)
	* SyRen 10 motor driver - see [[Syren 10A motorcontroller\| Syren 10A motorcontroller]]		* SyRen 10 motor driver - see [[Syren 10A motorcontroller\| Syren 10A motorcontroller]]
	* Firgelli L12-50-210-12-I linear actuator		* Firgelli L12-50-210-12-I linear actuator

Jca: /* Design overview hardware */

2018-02-12T14:42:48Z

Design overview hardware

← Older revision		Revision as of 16:42, 12 February 2018
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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.
	* A linear actuator to adjust heading angle on the wheel.		* 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 of the legs are interfaced and controlled by μ-processor boards (Teensy 3.5).
	Each leg is split up in two parts which are presented as the [[#Ankle hardware design\|ankle configuration]] and the [[#Knee hardware design\|knee configuration]]. The hardware design for robot's body is presented [[#Body hardware design\|here]].		Each leg is split up in two parts which are presented as the [[#Ankle hardware design\|ankle configuration]] and the [[#Knee hardware design\|knee configuration]]. The hardware design for robot's body is presented [[#Body hardware design\|here]].

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	[[File:tube_geometry.png]]		[[File:tube_geometry.png]]

	Figure 1. Basic geometry.		Figure 1. Basic geometry for both upper and lower leg.

	==Ankle hardware design==		==Ankle hardware design==

Jca: /* Knee hardware design */

2018-02-12T14:41:09Z

Knee hardware design

← Older revision		Revision as of 16:41, 12 February 2018
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	==Knee hardware design==		==Knee hardware design==
	The knee configuration currently includes:		The knee configuration currently includes:
	* A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-~~POT~~-IP66		* A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-IE?-IP66 (2 each leg)
	* Cytron 10A DC Motor Driver - model RB-Cyt-132		* Cytron 10A DC Motor Driver - model RB-Cyt-132
	* MPU to obtain tilt - model MPU-9250/6500 - in total 5 each leg.		* MPU to obtain tilt - model MPU-9250/6500 - in total 5 each leg.

Jca at 14:40, 12 February 2018

2018-02-12T14:40:00Z

← Older revision		Revision as of 16:40, 12 February 2018
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	* A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-POT-IP66		* A linear actuator to control the height (tilt) of the configuration - model DLA-12-10-A-200-POT-IP66
	* Cytron 10A DC Motor Driver - model RB-Cyt-132		* Cytron 10A DC Motor Driver - model RB-Cyt-132
	* MPU to obtain tilt - model MPU-9250/6500		* MPU to obtain tilt - model MPU-9250/6500 - in total 5 each leg.
	* Teensy 3.5 μ-processor board		* Teensy 3.5 μ-processor board
	* Pololu 24V to 5V voltage regulator - model D24V22F5		* Pololu 24V to 5V voltage regulator - model D24V22F5

Jca at 14:38, 12 February 2018

2018-02-12T14:38:54Z

@@ Line 22: / Line 22: @@
 * Angled DC motor to run the wheel - model IG42-CRGM
 * SyRen 10 motor driver - see [[Syren 10A motorcontroller| Syren 10A motorcontroller]]
 * Firgelli L12-50-210-12-I linear actuator
 ==Knee hardware design==
@@ Line 52: / Line 30: @@
 * MPU to obtain tilt - model MPU-9250/6500
 * Teensy 3.5 &mu;-processor board
+* Pololu 24V to 5V voltage regulator - model D24V22F5
-'''As of November 2017 this schematic is deprecated - the git repository should be consulted for newest version'''
+* Pololu 24V to 12V voltage regulator - model D24V??F12 - for steering actuator
 ===Open items (to-do list)===
 This list includes items that needs to be done, but have not been finished yet. This serves as reference for where to start when catching up on the project. This list should be updated as items are finished and finished items should be moved to the list which represents the current configuration of the knee. The responsibility of updating the schematic and git repository falls to the person responsible for carrying out the open item. This way the documentation both here and on git reflects the current state of the ankle configuration.
-* A Pololu 24V to 5V needs to inserted onto the matrix board. Wiring has been made, only thing missing is the component and to solder pin headers onto the component. They are of model D24V22F5 (link to product is on git) and should be ordered but have not been received.
 * The encoder counts for the DC motor at the ankle is still giving issues after ferrit cores.

S130074 at 18:13, 4 December 2017

2017-12-04T18:13:20Z

← Older revision		Revision as of 20:13, 4 December 2017
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	'''As of November 2017 this schematic is deprecated - the git repository should be consulted for newest version'''		'''As of November 2017 this schematic is deprecated - the git repository should be consulted for newest version'''

	The schematic for the ankle configuration is shown in Figure 1 and can be accessed using Upverter, a free online e-CAD design tool. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/97591cdad92a1840/Teensy_Wheel_Configuration/ here] - contact JCA for editorial access.		The schematic for the ankle configuration is shown in Figure 1 and can be accessed using Upverter, a free online e-CAD design tool. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/97591cdad92a1840/Teensy_Wheel_Configuration/ here] - contact JCA for editorial access.

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	* MPU to obtain tilt - model MPU-9250/6500		* MPU to obtain tilt - model MPU-9250/6500
	* Teensy 3.5 μ-processor board		* Teensy 3.5 μ-processor board

			'''As of November 2017 this schematic is deprecated - the git repository should be consulted for newest version'''

	The schematic for the knee configuration is shown in Figure 2 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/09ebc8887ee10a31/Teensy_Knee_Configuration/ here] - contact JCA for editorial access.		The schematic for the knee configuration is shown in Figure 2 and can be accessed using the free online e-CAD design tool Upverter. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/09ebc8887ee10a31/Teensy_Knee_Configuration/ here] - contact JCA for editorial access.

S130074: /* Ankle hardware design */

2017-12-04T18:12:05Z

Ankle hardware design

← Older revision		Revision as of 20:12, 4 December 2017
Line 27:		Line 27:
	* 14-bit rotary encoder - model AS5048A		* 14-bit rotary encoder - model AS5048A

			'''As of November 2017 this schematic is deprecated - the git repository should be consulted for newest version'''
	The schematic for the ankle configuration is shown in Figure 1 and can be accessed using Upverter, a free online e-CAD design tool. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/97591cdad92a1840/Teensy_Wheel_Configuration/ here] - contact JCA for editorial access.		The schematic for the ankle configuration is shown in Figure 1 and can be accessed using Upverter, a free online e-CAD design tool. Link to the project on Upverter is given [https://upverter.com/DTUAutomationControlFlexbot/97591cdad92a1840/Teensy_Wheel_Configuration/ here] - contact JCA for editorial access.

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	* A Pololu 24V to 12V needs to implemented on the matrix board to supply the small linear actuator. They are of model D24V22F12 (link to product is on git) and should be ordered but have not been received.		* A Pololu 24V to 12V needs to implemented on the matrix board to supply the small linear actuator. They are of model D24V22F12 (link to product is on git) and should be ordered but have not been received.
	* The I2C interface for inter-configuration(and host)-communication should be removed from the board. USB should be used instead.		* The I2C interface for inter-configuration(and host)-communication should be removed from the board. USB should be used instead.
	* When the final hardware configuration for the ankle has been decided upon, a revision 1 of a PCB layout should be made. Upverter holds the schematic, but footprints for layout should be carefully checked(or made).		* When the final hardware configuration for the ankle has been decided upon, a revision 1 of a PCB layout should be made. Upverter holds the schematic, but footprints for layout should be carefully checked(or made).

	==Knee hardware design==		==Knee hardware design==

S130074 at 17:21, 3 December 2017

2017-12-03T17:21:00Z

← Older revision		Revision as of 19:21, 3 December 2017
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	The ankle configuration currently includes:		The ankle configuration currently includes:
	* Angled DC motor to run the wheel - model IG42-CRGM		* Angled DC motor to run the wheel - model IG42-CRGM
	* SyRen 10 motor driver		* SyRen 10 motor driver - see [[Syren 10A motorcontroller\| Syren 10A motorcontroller]]
	* Teensy 3.2 μ-processor board		* Teensy 3.2 μ-processor board
	* Pololu 24V to 5V voltage regulator - model D24V22F5		* Pololu 24V to 5V voltage regulator - model D24V22F5