Overview 2 DOF in Head 4 DOF/Arm 1 DOF in Torso 6 DOF/ Leg

BODY DIMENSIONS ~25.5” Tall (feet to shoulder) 10” Shoulder Width 2.5” Torso Width

Custom Servo Brackets 4 Simple brackets for multiple servo mounting orientations ◦Side mount ◦Bottom mount ◦Large “C” bracket  Single plane dual axis rotation ◦Shoulder Rotation Side Mount Bottom Mount Large “C” Shoulder Rotation

LINKS & BRACKET INTEGRATION Simple Aluminum rods, ¼” Cut to length  Height adjustability Very cheap (~$7 per 6ft) Integrates into standard servo brackets. Simple 6-32x1/2” machine screws for assembly Custom Brackets Store bought Brackets Arm Assembly

HIP DESIGN Ball Bearing ◦Axial and Radial Loads ◦Low rotation friction ◦Ball Bearings are cheap Reduce stress on servo horn ◦Increased hip Stiffness -Green Rotation -Gray Static

TORQUE REQUIREMENTS T1 T2 T3 Squat T3 F Leg Lift Push up F/2 Te

TORQUE RESULTS ROBOARD SERVO SPECS Standard size digital servo 35.0 kg-cm/486.0 oz-in Speed: 0.11 sec/60º Voltage: 6 to 7.4V Weight: 70g leg lift (1 leg)Squat (2 leg) Torque at HipAnkleKnee MAX (lb-in) (oz-in) FS Elbow Torque F (lbs) in-lb oz-in FS weight (lbs) foot (ALL) Lower Leg Links Knee servo Knee C-Bracket Knee bottom Bracket TOTAL KNEE JOINT Upper leg Links Hip C-bracket Hip servos Hip Brackets TOTAL HIP JOINT (1 side) TOTAL ABOVE HIP (2 sides) Hip plate Hip components Torso plate bottom Torso plate top Torso servo Torso links Other torso weight Shoulder servos shoulder brackets upper arm C-bracket Upper arm servo upper arm links upper arm brackets elbow servo lower arm C-bracket lower arm links lower arm bracket Neck TOTAL BODY

Stress Analysis Bottom Bracket

Stress Hip/Shoulder Bracket

Stress Analysis Elbow Bracket

Stress Analysis Leg Assembly

Deformation Leg Assembly

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

Controller ModelRoboard RB-100 ProcessorDM&P Vortex86DX running at 1GHz Memory256MB DDR2 onboard ADCsAnalog Devices AD bit I /O Interface Micro SD slot x1 USB port x 1 (USB 2.0 version) Connectors 2.54 mm 3-pin box header for PWM x mm 10-pin box header for RS-232 x mm 10 -pin box header for USB x1 2.0 mm 4-pin header for RS-485 x1 2.0 mm 4-pin header for TTL serial x mm 10 -pin box header for SPI & I 2C x mm 16-pin header for A/D x mm 3 -pin wafer for TTL serial x mm 4 -pin wafer for LAN x mm 4-pin wafer for MIC-in x mm 4-pin wafer for Line-out x mm 6-pin wafer for JTAG x1 0.8mm 124-Pin Mini PCI Card connector 3.96 mm 2 pin for Power x 1 Power Consumption 400mA Power InputDC-in 6V to 24V Dimension96 x 56 mm Weight40g Resolution PWM : 20ns Serial : bps I2C : 1Kbps ~ 3.3Mbps SPI : 10Mbps to 150Mbps Half-Duplex;