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Detailed Design Review November 11, 2011

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.

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Detailed Design Review November 11, 2011

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  1. Detailed Design ReviewNovember 11, 2011 MSD I Humanoid Robot P12201

  2. Torque Analysis: Hip Servo Max Torque Condition on Hip Servo when leg fully extended and // to ground L3 F1= ρal*t1(2*L2*W1+(L2-1.25)*W2) F1=15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45 F1=13.90 oz L2 L1=0.78’’ L2=5.22’’ L3=10.72’’ L1 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)*1.45 F2=14.37 oz F1 F2 Tmax + S1=S2=S3=SHT = 2.18 oz S4=2SLT= 3.88 oz S2 S1 S4 S3

  3. Torque Analysis: Leg Servos Servo Information Leg Layout Hip Lift: 1 HT Servo 0.78’’ Hip Torsion: 1 HT Servo 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 Links are on both sides of servos 5.22’’ 10.72’’ Knee: 1 HT Servo Ankle: 2 LT Servos

  4. Torque Analysis: Knee Servo Max Torque Condition on Knee Servo when Thigh // to ground & Shin ┴ to ground 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 L2 L2=5.22’’ L3-L2=5.5’’ F1=6.76 oz + Tmax L3-L2 Wr= 2Warm+Wneck+2Whip+Wtorso Wr=2*(1LT+3HT+F1)+2LT+3HT+48 Wr=2(1.94+3*2.18+13.9)+(2*1.94)+2(3*2.18)+64) Wr= 128.54oz 1.61

  5. Torque Analysis: PUSH UP Push-up Layout Servo Information 140mm 140mm 120mm 120mm F 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 118mm 118mm 201mm F 182mm 120mm + O

  6. Torque Analysis: PUSH UP Max Torque Condition on Hip Servo when leg fully extended and // to ground L4 F1= ρal*t1(2*L2*W1+(L2-1.25)*W2) F1=15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45 F1=13.90 oz L3 L2 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)*1.45 F2=14.37 oz L1 L1=182mm L2= 383mm L3=501mm L4=620mm F2 F1 M=2lbs S1= 2*2.18 oz= 4.36 oz S2= 6*2.18 oz = 13.08 oz S3= 4*2.18 oz = 8.72 oz To + F S3 S1 M S2 +(*) – (F * ) , assume T=0 at o (moment balance) F+(8.72*620))/620 T

  7. Tigerbot DRAWING

  8. Torso DRAWING

  9. ARM LINK DRAWING

  10. LEG u bracket DRAWING

  11. Hip mount DRAWING

  12. Thigh LINK DRAWING

  13. SHIN LINK DRAWING

  14. Foot DRAWING

  15. STRESS ANALYSIS ARM LINK

  16. STRESS ANALYSIS ARM LINK

  17. STRESS ANALYSIS SHIN LINK

  18. STRESS ANALYSIS SHIN LINK

  19. STRESS ANALYSIS THIGH LINK

  20. STRESS ANALYSIS THIGH LINK

  21. Board Communications

  22. IntelligenceBreakdown

  23. Sensing Control

  24. BATTERY analysis. Ah

  25. DEVICE SPECIFICATIONS

  26. Robot IDLEpower calculation -Assume ten servos and the electronics are power on but in idle mode -All the Proximity and touch are off

  27. Robot walking power calculation • -Assume certain numbers of the servos are used and the electronics are power on

  28. Pseudo Code Refer to Activity Diagram for Android and Arduino Pseudo code. Jon will talk about the Arc32 code later.

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