Flexbot parts list

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Introduction

This page should hold the complete parts list for Flexbot. When adding a new component, please update correspondingly.

Leg

Hip section

• MPU-9250/6500
• DLA-12-10-A-150-HS2-ip65 - Transmotec actuator 12V, 300N, 15cm stroke, with magnetic encoder.

Knee section

• DLA-12-20-A-250-HS2-ip65 - Transmotec actuator 12V, 500N, 25cm stroke, with magnetic encoder. Each encoder channel deliveres 13.8 transitions every mm, i.e. two channels delivers a transition every 0.0362mm. At 20V (0.8A no load) motor voltage (12V motor) the hall channel period is T=6.2ms => 23mm/s, at 12V (0.65A no load) T=10.2ms => 14.9mm/s. 12V full stroke 17 sek (25cm) = 14.7mm/s.
• Cytron 10A DC Motor Driver - model RB-Cyt-132
• MPU-9250/6500 - IMU (x3) --- nej, ikke Sparkfun, men det "blå" breakout print.
• Teensy 3.5 - μ-processor board
• Pololu D24V22F5 - 24V to 5V voltage regulator
• Connectors and headers for the electronics - to be determined later.
• - fjederben

Foot

• Firgelli L12-50-210-12-l - steering actuator (12V) 5cm stroke, with controller
• IG42CR0024x00020R - 24V drive motor with 20 pulse encoder, gear 1:24.
• TE-098-110 - SyRen 10A motor driver (24V)
• as5047 - angle encoder for damper position
• Pololu D24V22F5 - 24V to 5V voltage regulator
• Pololu D24V22F12 - 24V to 12V voltage regulator
• Connectors and headers for the electronics - to be determined later.

Mechanics

• FIDRacing DBXL front hub (FIDXL032) steering parts, including axle (but no wheel nut)
• RovalLosi LT Wheel nut
• RovanLosi LT tyre inner foam
• -tire?
• (link) - flex coupling between motor and wheel
• (link) - 6mm axle

Body

• (link) - main PC (Intel Nuc i7?)
• (link) - batteries (LiPo? - 10Ah?, 6 cells or 2x 3 cells 22.2V nominel, (20-29V aktuelt)
• (link) - USB hub (min. 8 ports)

Mechanics

Description - of some of the 3D printed parts

Parts for steering actuator mounting.

Parts for foot rear set, left and right.