Tigerbot VI Final Detailed Design Review Supplemental Review Materials

Full Review Agenda Preliminary Detailed Design Review Action Items/Progress Review of Customer and Engineering Requirements Revised Torque Analysis (page 3 of this packet) Lower Body Electrical Layout Diagrams FSR (Page 4) ADC (page 5) Gyroscope/Accelerometer and Voltage Regulator (page 6) Timing Diagrams for Motor Movement (page 7) Updated Mechanical Design (pages 8-11) Preliminary Electrical Layout within the Mechanical Design (pages 12-13) BOM and Budget Projections Updated Test Plan Updated Risk Assessment Plans for the start of MSD II

Revised Torque Calculations

FSR Network Design

ADC Board Design

Gyroscope/Accelerometer and Voltage Regulator Networks

Timing Diagrams for Motor Movement Enable – Motor Shaft Lock A – 1: Clockwise, 0: CCW B – Motor Shaft Spin/Don’t Spin These diagrams only cover the actual function of taking a step, they do not account for shifting weight which would happen prior to the right foot forward diagram.

Lower Body Design without Angled Legs

Knee to Foot Close-Up Foot Close-Up

Lower Body Design with Angled Legs Front and Side Views

Hip Close-Up Foot Close-Up Hip to Knee Close-Up

Wiring within Leg Design

Wiring within Foot Design All wires will be housed within a flexible conduit in physical implementation