EE Detailed Design Review Kyle Backer Mike Thomas Matt DeCapua

Design Review Goals  Review Customer Needs & Specifications  Calculate Power Requirements  Describe In Detail the Power Distribution Throughout the Robot  Determine External Sensors & Placement on Robot  Update Risks & Concerns  Proposed Bill of Materials

Customer Needs Customer Need # ImportanceDescriptionComments/Status CN11WalkServo Control Algorithm CN21Turn Servo Control Algorithm CN31Object AvoidanceSense object In all directions CN42Get up-Forwad fall Sensor reading and control algorithm CN52Get up-backward fall Sensor reading and control algorithm CN63Resist fall IMU Reading CN72Voice ActivatedSpeech Recognition Module CN82Non-Tethered Battery Powered CN91HeightMust be at least 2 ft tall, preferably larger CN101Additional WeightAccommodate 25% of total body weight CN111Humanoid Proportions/LimbsMust look and move like a human CN122Head FunctionsHead needs to potentially move and/or support sensors CN133Off Shelf Part SourcesNeed readily available parts CN141Adequate Computational Power Dedicated Robotic Computer

Customer Specifications Spec. #ImportanceSourceFunction Specification (metric) Unit of Measure Marginal ValueIdeal ValueComments/Status S13CN9F1-F4,F720"-36" tallinch2836 S21CN10F1-F7Carry 25% of own weightlbs5>5lbsWeight about 14lbs S32CN11F5,F6DOF per armx45Ignore wrist movement S43CN11F1, F2, F3DOF per legx466 DOF likely S52CN11F4, F1DOF Torsox12 S63CN12F13Head turn up/down -45 degress to 90 degreesdegrees S73CN12F13Head turn 90 degrees left/rightdegrees90 S82CN11F1torso bends 90 degrees downdegrees90>90 S92CN11F4Torso turns 45%degrees4590 S102CN11F1-F7Human proportionalityxxx S111CN13F1-F3, F5Servos from the marketx S121CN14F12Servo driver from the market w/ extra portsx S131CN14F12Micro controller/small computer w/ OSx Roboard 110 S141CN14F12Software Librariesx S151CN1F1-F3Walkingx Natural S161CN2F1-F3TurningxHaltingNatural S172CN4AllRecovery from forward fallx S182CN5AllRecovery from backwards fallx Roll onto front possibly S192CN6F9Resistance to fallx S201CN3F8Avoid object within 25"inches24”>24” S211CN3F8Turn accordingly to avoid obstaclex S222CN4/CN5F9sensors to detect fallx S231CN6F9sensors to detect forces and resist fallx S241CN3F8detect object in backx S251CN3F8detect object in frontx S261CN3F8detect object in right/leftx S271CN11F145 degrees forward bend at waist leveldegrees45 S282CN7F1116 word voice commandsx16>16

Power Calculation Part NameFunctionRequired Voltage Quiescent Current Active Current Power / Per NumberTotal Power EasyVR Speech Module voice commands 5V1mA180mA.9W10.9 RoBoard RB- 110 main computer/proce ssor 6-24V400ma2W12 LV-MaxSonar- EZ0 ultrasonic rangefinder mA.01W20.02 GP2Y0A02YK 0 IR rangefinder mA IMU Combo Board Internal Gyro/Accelerom eter 3.3V45uA6.75mA RoBoard RS Servo7.45mA1.5~5A11.1~ 37W 22~66 70W

General Power Diagram

Power Distribution Circuit

Battery Selection In total Servos Can pull >40A Robot needs to last 1-2 hours 2x 7.4V 5000mAh Li-Poly Proposed Waiting for test results from Team 1

Selected Servos RoBoard RS-1270 digital servo motor (x22)servo  35.0 kg-cm/486.0 oz-in  Voltage: 6 to 7.4V  Weight: 70g  Suggested voltage: 7.4V  Current draw max: 5A  Total average current: 6.6A  Expected walking current: 18A

Selected Connectors Battery and Wall Power >40A Servo Power max 5A

Proposed PCB

Sensor Placement 4 infrared sensors sensors for short range detection(Front, back, left, right) 2 ultrasonic sensors for long range(Front-left,front-right) 1 accelerometer/gyro board(Internal:chest) 1 voice recognition module(Internal:chest)

Wiring Diagram

Updated Risks IDRisk ItemEffectCause Likelih ood Severi ty Import ance Action to Minimize RiskOwner Describe the risk briefly What is the effect on any or all of the project deliverables if the cause actually happens? What are the possible cause(s) of this risk? L*S What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the risk of this occurring? Who is responsible for following through on mitigation? 1 Overheating System damage, reduced performance Continuous servo and battery use, limited ventilation 22R Construct an open body, allowing ventilation, include cooling fans and heat sinks EE 3Over budgetNot finishing Spending too much, expensive servos 23P Sparkfun free day, conservative spending, find least expensive components All 5Insufficient battery voltage Lower servo torque, limited effectiveness of processor/sensors not fully charged/Balanced12P Use Balancing charger and Low voltage alarm during operation EE 6Insufficient battery capacityShort operation time Battery too small, large current draw 11R Choose batteries carefully, choose low power components EE 7Insufficient sensor rangeUnable to avoid obstacles properlySensor range too short11Ause combination of infrared and ultrasonicEE 14 Large Current Draw through Wires/Connectors Wires/Connectors Burn/Melt Excess of current23P Cautious selection of wiring gauges And Molex Connectors EE 15Signal corruptionIncorrect Servo PositionNoise affecting PWM signals23PAdequate grounding and shieldingEE 16 Power Distribution PCB Overheats or Shorts Loss of Power, Servo DamageToo small traces23PMake traces as wide as possibleEE 17All Servos Lock Up Max current draw, Damage to power componets Awkward movement, programming errors, sensor errors 23PUse a 60A fuseEE

P12202 Humanoid Platform Bill of Materials Part NameManufacturerManufacturer Part #DistributorDistributor Part #Web LocationQuantity NeededUnit PriceTotal PriceStatusComments Electrical 5000mAh 7.4V Li-Poly Battery Spec Point Concepts N/A Spec Point Concepts N/A batteries.com/index.php?productID=59 2$28.95$57.90 In stock Batteries 2S~4S Li-Poly Low Voltage Alarm N/A All BatteryN/A aspx 2$4.99$9.98 In stock Battery Protection Traxxas Male Connector N/A All Battery $3.99$7.98 In stock Female Connector for Battery Molex PCB Power Connector (Mini-fit Sr) Molex Digi-KeyWM4431-ND 3$2.99$8.97 In stock PCB connecter for external supply and batteries Molex Vertical Power Connector (mini-fit sr) Molex Digi-KeyWM1927-ND 3$1.48$4.44 In stock mates with PCB recepticle Mini-Fit Sr Male Crimp Connection Molex Digi-KeyWM3194CT-ND 6$0.84$5.04 In stock crimpable connector contacts Mini-Fit Sr Female Crimp Connection Molex CDigi-KeyWM1949-ND 6$1.05$6.30 In stock crimpable connector contacts Mini-Fit Jr PCB Header Molex Digi-KeyWM23800-ND 24$0.96$23.04 In stock PCB connecter for servos Mini-Fit Jr Male Connector Molex Digi-KeyWM3700-ND 24$0.63$15.12 In stock mates with pcb connector Mini-Fit Jr Female Crimp Connection Molex Digi-KeyWM3116CT-ND 48$0.36$17.28 In stock mini-fit contacts Molex KK PCB Header Molex Digi-KeyWM4200-ND 1$0.44 In stock roboard power connector Molex KK Female Connector Molex Digi-KeyWM3200-ND 1$0.62 In stock mates with KK pcb header Roboard RB-100RoboardRB-100 Trossen Robotics KIT-C-900- Roboard-Kit robotics.com/p/roboard-rb-110-starter-kit.aspx 1$ In stock central Processing Infrared Proximity Sensor Short Range SharpGP2D120XJ00FSparkfunSEN-08959http:// In stock Obstacle Avoidance Ultrasonic Range FinderMaxbotixMaxbotix LV-EZ0SparkfunSEN-08502http:// In stock Ordered 1 with free Sparkfun money 6 Degrees of Freedom IMU ITG3200/ADXL345 IMUN/ASparkfunSEN-10121http:// In stock Combo Board, Ordered with free Sparkfun money EasyVR Shield - Voice Recognition Shield VRN/ARobot ShopRB-Tig-01 robonova-and-other- robots.html?utm_source=google&utm_medium=base&utm_campaign= jos 1$50.00 In stock Speech Recognition Module Totals $600.85