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.
PCB and cables
The printed circuit boards and cabling are described here:
All PCB and connector pinout
Legs
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 - dog lille sparkfun til version B 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 i5?)
- 24V -> 19V NUC power 100w (https://www.cartft.com/catalog/il/2026)
- batteries (LiPo - 5Ah, 2 x 3 cells 22.2V nominel (110Wh), (20-29V aktuelt)
- charger 2x e430 SKYrc 2-4 cell (https://www.motionrc.eu/pages/search-results-page?q=e430+30w)
- USB3 hub 7 port 24V (https://www.cartft.com/catalog/il/1978)
Mechanics
Description - of some of the 3D printed parts
Parts for steering actuator mounting.
Parts for foot rear set, left and right.
