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 F1F1 F2F2 T max + F 1 = ρ al *t 1 (2*L 2 *W 1 +(L )*W 2 ) F 1 =15.6*0.0625(2*5.22*0.78+( )*1.45 F 1 =13.90 oz F 2 = ρ al *t 1 (2* (L 3 -L 2 ) *W 1 +(L 3 -L )*W 2 ) F 2 =15.6*0.0625(2*( )*0.78 +( )*1.45 F 2 =14.37 oz S1S1 S2S2 S3S3 S 1 =S 2 =S 3 =S HT = 2.18 oz S 4 =2S LT = 3.88 oz S4S4 L1 L2 L3 L 1 = 0.78’’ L 2 =5.22’’ L 3 =10.72’’

TORQUE ANALYSIS: LEG SERVOS Servo Information Leg Layout Servo TypeDimensionsMax Torque “T max ” (oz-in) Weight “W” (oz) High Torque (HT)1.57 x 0.78 x Low Torque (LT)1.57 x 0.78 x ’’ 5.22’’ Hip Lift: 1 HT Servo Knee: 1 HT Servo Ankle: 2 LT Servos Hip Torsion: 1 HT Servo Assumptions -Link weight acts at center of link -Links made of Aluminum ρ al = 15.6 oz/in 3 -Link Thickness: t=1/16’’ -Links are the width of the servo and cover top -Links are on both sides of servos 10.72’’

TORQUE ANALYSIS: KNEE SERVO Max Torque Condition on Knee Servo when Thigh // to ground & Shin ┴ to ground L2L2 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 L 3 -L 2 + T max L 2 =5.22’’ L 3 -L 2 =5.5’’ F 1 =6.76 oz W r = 2W arm +W neck +2W hip +W torso W r =2*(1LT+3HT+F1)+2LT+3HT+48 W r =2(1.94+3* )+(2*1.94)+2(3*2.18)+64) W r = oz

TORQUE ANALYSIS: PUSH UP Servo Information Servo TypeDimensionsMax Torque “T max ” (oz-in) Weight “W” (oz) High Torque (HT)1.57 x 0.78 x Low Torque (LT)1.57 x 0.78 x Assumptions -Link weight acts at center of link -Links made of Aluminum ρ al = 15.6 oz/in 3 -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

TORQUE ANALYSIS: PUSH UP Max Torque Condition on Hip Servo when leg fully extended and // to ground F1F1 F2F2 ToTo + F 1 = ρ al *t 1 (2*L 2 *W 1 +(L )*W 2 ) F 1 =15.6*0.0625(2*5.22*0.78+( )*1.45 F 1 =13.90 oz F 2 = ρ al *t 1 (2* (L 3 -L 2 ) *W 1 +(L 3 -L )*W 2 ) F 2 =15.6*0.0625(2*( )*0.78 +( )*1.45 F 2 =14.37 oz S1S1 S2S2 S 1 = 2*2.18 oz = 4.36 oz S 2 = 6*2.18 oz = oz S 3 = 4*2.18 oz = 8.72 oz M L1 L2 L3 L 1 = 182mm L 2 = 383mm L 3 =501mm L 4 =620mm L4 S3S3 F M=2lbs, assume T=0 at o (moment balance)

TIGERBOT DRAWING

TORSO DRAWING

ARM LINK DRAWING

LEG U BRACKET DRAWING

HIP MOUNT DRAWING

THIGH LINK DRAWING

SHIN LINK DRAWING

FOOT DRAWING

STRESS ANALYSIS ARM LINK

STRESS ANALYSIS SHIN LINK

STRESS ANALYSIS THIGH LINK

BOARD COMMUNICATIONS

INTELLIGENCE BREAKDOWN

SENSING CONTROL

BATTERY ANALYSIS. Battery Type VoltageCurrentDimension (mm) Weight(g) LiPo 13500XL 7.4V13500mah162x45x39654

DEVICE SPECIFICATIONS Device5990TG8498HBARC3 2 ARDUINO 2560 IOIOREGULATORPROXIMITY SENSOR Quantity

ROBOT IDLE POWER CALCULATION -Assume ten servos and the electronics are power on but in idle mode -All the Proximity and touch are off

ROBOT WALKING POWER CALCULATION

PSEUDO CODE REFER TO ACTIVITY DIAGRAM FOR ANDROID AND ARDUINO PSEUDO CODE. JON WILL TALK ABOUT THE ARC32 CODE LATER.