Flexbot design

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Design overview hardware

Each "leg" of the flexbot consists of 3 actuators.

  • An angled DC motor to control the wheel.
  • Two linear actuators to control the motion of the robot's body.

Each of these actuators is controlled by a μ-processor board (Teensy 3.2). The Teensy controls the actuators either directly or via a motor driver and receives feedback from the actuators encoder signals. The hardware block diagram for a Teensy configuration is shown in Figure 1.

Figure 1: Hardware block diagram of the Teensy configuration.