Flexbot design: Difference between revisions

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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]].


A complete 3D model of the robot is available using the online CAD software Onshape.com - JCA should be contacted for sharing and editing the model.
A complete 3D model of the robot is available using the online CAD software Onshape.com - JCA should be contacted for sharing and editing the model.


==Ankle hardware design==
Each leg part is connected with a two parallel stretches (mostly carbon tubes), each 4 carbon tubes, from foot to knee and from knee to hip (see also
The ankle configuration currently includes:
[[Flexbot 3D print]]).  
* 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 ankle configuration is shown in Figure 1 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/97591cdad92a1840/Teensy_Wheel_Configuration/ here] - contact JCA for editorial access.
[[File:tube_geometry.png]]


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


[[File:Teensy Wheel Configuration.png|1050px]]


Figure 1: Schematic for the ankle configuration for the Flexbot.
----


==Knee hardware design==
--[[User:Jca|Jca]] ([[User talk:Jca|talk]]) 13:01, 9 June 2018 (CEST)
The knee configuration currently includes:
* 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
* MPU to obtain tilt - model MPU-9250/6500
* Teensy 3.5 μ-processor board
 
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.
 
 
[[File:Flexbot Knee Configuration.png|1000px]]
 
Figure 2: Schematic for the knee configuration for the Flexbot.
 
==Body hardware design==

Latest revision as of 12:01, 9 June 2018

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 μ-processor boards (Teensy 3.5). Each leg is split up in two parts which are presented as the ankle configuration and the knee configuration. The hardware design for robot's body is presented here.

A complete 3D model of the robot is available using the online CAD software Onshape.com - JCA should be contacted for sharing and editing the model.

Each leg part is connected with a two parallel stretches (mostly carbon tubes), each 4 carbon tubes, from foot to knee and from knee to hip (see also Flexbot 3D print).

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


--Jca (talk) 13:01, 9 June 2018 (CEST)

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