Seoul National University of Technology 1

Design ProjectDesign ProjectSung-mok SeoSung-mok Seo

Ok-nam LeeOk-nam LeeYoon-ho NaYoon-ho Na

Su-min ParkSu-min Park

Toy gun/DSP

Aluminum Body

Mass=0.7189kg

MotorMotor

4Seoul National University of Technology

RS-226

DC: 4.8~7.2VSpeed: 0.20 s/60degreeTorque: 26kg*cmWeight: 60gSize: 41*20*38mm

Components & WeightComponents & Weight 12 Motors : 60g*12=720g12 Motors : 60g*12=720g 2 Motors : 60*2=120g2 Motors : 60*2=120g Battery : Less than 800gBattery : Less than 800g Camera : Generally 100~150gCamera : Generally 100~150g Toy gun : 390gToy gun : 390g DSP board : 100gDSP board : 100g Aluminum 2T-5052 : Less than 800g Aluminum 2T-5052 : Less than 800g Other parts : 100g Other parts : 100g

5Seoul National University of Technology

Modeling

Torque calculation

Total weight for the body : 2

Motors+Battery+Camera+DSP+Al+Parts

120+800+150+390+100+800 +100 < 120+800+150+390+100+800 +100 < 2.5kg 2.5kg

Body Size - 20cm*20cm

Total Torque = Weight*Distance = 2.5kg*19cm = 47.5kg*cm

In case of movement, only two legs put on ground. Therefore, torque for one leg in that case..

Total Torque/2=47.5/2=23.75kg*cm

RS-226 torque is 26 > 23.75

Torque calculation

20cm

2.5kg

To make frames

CNC machine

Size : 600 * 700 * 80 mm

Materials : Plastic, Al, Acryl

Accuracy : 0.05mm

Control Part

We’ve… - Studied the motor(RX-28) - Understood a C language example provided - Studied circuits : Power supply, Switch circuit , communication circuit - bought circuit stuffs

We will… - buy RS-226 motors

- study how to control servo motor

Control Part

12Seoul National University of Technology

Q & AQ & A

Thank youThank you