detailed design review november 11, 2011
DESCRIPTION
Detailed Design Review November 11, 2011. MSD I Humanoid Robot P12201. Torque Analysis: Hip Servo. Max Torque Condition on Hip Servo when leg fully extended and // to ground. L3. F 1 = ρ al *t 1 (2*L 2 *W 1 +(L 2 -1.25)*W 2 ) F 1 =15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45 F 1 =13.90 oz. - PowerPoint PPT PresentationTRANSCRIPT
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DETAILE
D DESIG
N REVIE
W
NOVEMBER 11, 2
011
MS
D I
HU
MA
NO
I D R
OB
OT
P1
22
01
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TORQUE ANALYSIS: HIP SERVOMax Torque Condition on Hip Servo when leg fully extended and // to ground
F1 F2
Tmax+
F1= ρal*t1(2*L2*W1+(L2-1.25)*W2)F1=15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45F1=13.90 oz
F2= ρal*t1(2* (L3-L2) *W1+(L3-L2-1.25)*W2)F2=15.6*0.0625(2*(10.72-5.22)*0.78
+(10.72-5.22-1.25)*1.45F2=14.37 oz
S1 S2 S3
S1=S2=S3=SHT = 2.18 oz S4=2SLT= 3.88 oz S4
L1L2
L3
L1= 0.78’’L2=5.22’’L3=10.72’’
𝑇𝑚𝑎𝑥=(𝑠2∗𝐿1 )+(𝐹 1∗(𝐿1+ 𝐿2−𝐿12 ))+(𝑠3∗𝐿2 )+(𝐹 2∗(𝐿2+ 𝐿3−𝐿22 ))+(𝑠¿¿4∗𝐿3)¿
𝑇𝑚𝑎𝑥=(2.18∗0.78 )+(13.90∗(0.78+ 5.22−0.782 ))+ (2.18∗5.22 )+(14.37∗(5.22+ 10.72−5.222 ))+(3.88∗10.72)
𝑇𝑚𝑎𝑥=210.90𝑜𝑧−𝑖𝑛 Factor of Safet 𝑦=417210.90
=1.98
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TORQUE ANALYSIS: LEG SERVOS
Servo Information
Leg LayoutServo Type Dimensions Max Torque
“Tmax” (oz-in)
Weight “W” (oz)
High Torque (HT)
1.57 x 0.78 x 1.45
417 2.18
Low Torque (LT)
1.57 x 0.78 x 1.45
124 1.190.78’’
5.22’’
Hip Lift: 1 HT Servo
Knee: 1 HT Servo
Ankle: 2 LT Servos
Hip Torsion: 1 HT ServoAssumptions
-Link weight acts at center of link-Links made of Aluminum ρal = 15.6 oz/in3
-Link Thickness: t=1/16’’-Links are the width of the servo and cover top-Links are on both sides of servos
10.72’’
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TORQUE ANALYSIS: KNEE SERVOMax Torque Condition on Knee Servo when Thigh // to ground & Shin ┴ to ground
L2
Additional Assumptions-Each Arm consists of 1LT & 3 HT Servos-Neck has 2 LT Servos-Hip Joint has 3 HT Servos-Arm Links are same as leg links (conservative)-Torso + Electronics weigh 4 lbs (64oz)-Each Knee has to lift ½ weight of robot--Upper body leaning such that half weight is at thigh and other half is halfway b/t thigh and knee
L3-L2
𝑊 𝑟
4𝐹 1+
𝑊 𝑟
4
+Tmax
L2=5.22’’L3-L2=5.5’’
F1=6.76 oz
Wr = 2Warm+Wneck+2Whip+Wtorso
Wr=2*(1LT+3HT+F1)+2LT+3HT+48Wr=2(1.94+3*2.18+13.9)+(2*1.94)+2(3*2.18)+64) Wr= 128.54oz
𝑇𝑚𝑎𝑥=𝑊 𝑟
4∗𝐿2+
𝐿22 (𝑊 𝑟
4+𝐹 1)
𝑇𝑚𝑎𝑥=128.544
∗5.22+ 5.222 ( 128.544 ∗+13.90)
𝑇𝑚𝑎𝑥=258.85𝑜𝑧−𝑖𝑛 1.61
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TORQUE ANALYSIS: PUSH UP
Servo Information
Servo Type Dimensions Max Torque “Tmax” (oz-in)
Weight “W” (oz)
High Torque (HT)
1.57 x 0.78 x 1.45
417 2.18
Low Torque (LT)
1.57 x 0.78 x 1.45
124 1.19
Assumptions-Link weight acts at center of link-Links made of Aluminum ρal = 15.6 oz/in3
-Link Thickness: t=1/16’’-Links are the width of the servo and cover top-Mass of 2 lbs at chest used to estimate internal electronic components and hip mass of 1 lb used to estimate battery
Push-up Layout
F
F
+O
182mm
118mm
201mm
118mm
140mm
120mm
140mm
120mm
120mm
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TORQUE ANALYSIS: PUSH UPMax Torque Condition on Hip Servo when leg fully extended and // to ground
F1F2
To+
F1= ρal*t1(2*L2*W1+(L2-1.25)*W2)F1=15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45F1=13.90 ozF2= ρal*t1(2* (L3-L2) *W1+(L3-L2-1.25)*W2)F2=15.6*0.0625(2*(10.72-5.22)*0.78
+(10.72-5.22-1.25)*1.45F2=14.37 oz
S1 S2
S1= 2*2.18 oz = 4.36 oz S2= 6*2.18 oz = 13.08 oz S3= 4*2.18 oz = 8.72 oz
M
L1L2
L3
L1= 182mmL2= 383mmL3=501mmL4=620mm
+(*) – (F * )
𝐹𝑎𝑡 h𝑠 𝑜𝑢𝑙𝑑𝑒𝑟𝑠=52.53𝑜𝑧
Factor of Safet 𝑦=417289.94
=1.44
L4
S3
F
M=2lbs
, assume T=0 at o (moment balance)
F+(8.72*620))/620
T
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TIGERBOT DRAWING
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TORSO DRAWING
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ARM LINK DRAWING
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LEG U BRACKET DRAWING
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HIP MOUNT DRAWING
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THIGH LINK DRAWING
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SHIN LINK DRAWING
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FOOT DRAWING
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STRESS ANALYSIS ARM LINK
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STRESS ANALYSIS ARM LINK
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STRESS ANALYSIS SHIN LINK
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STRESS ANALYSIS SHIN LINK
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STRESS ANALYSIS THIGH LINK
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STRESS ANALYSIS THIGH LINK
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BOARD COMMUNICATIONS
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INTELLIGENCE BREAKDOWN
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SENSING CONTROL
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BATTERY ANALYSIS.
Battery Type
Voltage
Current Dimension (mm)
Weight(g)
LiPo 13500XL
7.4V 13500mah 162x45x39
654
Ah
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DEVICE SPECIFICATIONS
Device 5990TG
8498HB
ARC32
ARDUINO 2560
IOIO REGULATOR
PROXIMITY SENSOR
7.4 7.4 7.4 7.4 7.4 7.4 5
380 240 100 100 377 500 40
10 8 - - - - 20
Quantity 10 12 1 1 1 1 5
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ROBOT IDLE POWER CALCULATION-Assume ten servos and the electronics are power on but in idle mode-All the Proximity and touch are off
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ROBOT WALKING POWER CALCULATION
-Assume certain numbers of the servos are used and the electronics are power on
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PSEUDO CODE
REFER TO ACTIVITY DIAGRAM FOR ANDROID AND ARDUINO PSEUDO
CODE.
JON WILL TALK ABOUT THE ARC32 CODE LATER.