1. For Official NASA Use Only
R2 Technical Briefing
Nicolaus Radford Robonaut Deputy Project Manager
Robonaut Electrical Lead NASA
2/3/2010
For Official NASA Use Only

2. For Official NASA Use Only
Agenda
In-depth look at the Robonaut Subsystems
Mechanical
Electrical
Command and Data Processing Architecture
Control Display Overview
For Official NASA Use Only

3. For Official NASA Use Only
Mechanical
For Official NASA Use Only

4. Mechanical Design Overview
3 DOF Neck
Waist
7 DOF Upper Arm and Wrist
12 DOF Hands
Superior Dexterity
Total of 42 Degrees of Freedom
Controlled by 54 Servo Motors
4 DOF Thumb
3 DOF Primary Fingers
1 DOF Secondary Fingers
For Official NASA Use Only

5. Mechanical Design Overview
Enabling Technologies
Compact Rotary Series Elastic Actuator
Capabilities Enabled
Stiffness Control
Collision Detection / Obstacle Avoidance
Zero Gravity Float Mode
Directional Force Control J1 J2 J3 J4 J5 J3
Joint Output
Spring Output
Frameless DC Motor
Harmonic Drive Gear Reduction
APS #1
Spring Input Position
APS #2
Spring Output Position
Spring Input
Novel Planar Torsion
Spring
For Official NASA Use Only

6. Mechanical Design Overview
Enabling Technologies
Tendon Driven Finger Actuation System
Compact Remote Actuation
Hybrid Vectran/Teflon Tendon Material
Capabilities Enabled
Human-Like Size, Strength , and Range of Travel
Finger Torque Control
Motor
Gear Head
Ball Screw Assembly
Flexible Conduit
Tension Sensor
Teflon Liner
Braided Polymer Tendon
Tendon Terminator
Ball Nut
Ball Screw
Tendon Hook
Tendon Loop
For Official NASA Use Only

7. For Official NASA Use Only
Electrical
For Official NASA Use Only

8. Electrical Design Overview
Total of 143 Custom Printed Circuit Boards (PCBs) in Robonaut
30 unique PCB Designs in Robonaut
- 36 upper arm boards
10 unique
- 22 forearm boards
5 unique
- 44 hand boards
- 18 neck / head boards
2 unique
- 17 body / waist boards
6 unique
- 6 back pack boards
1 unique
For Official NASA Use Only

9. Electrical Design Overview
Ethernet to
Commander
And Head
Power
Indicator
Lights
Gigabit
Ethernet Hub
Power Fuses
Brain
Stem
Brain Stem
Power Relays
MLVDS Communications
Link (50 Mbit/s)
Power
Control
Board
Smart Guard
Rotational
Waist Joint
Super Driver
Controller
Board
For Official NASA Use Only

10. Electrical Design Overview
Power
Power Backpack
3 Phase 208VAC (8000W)
Single Phase 210 VDC (2800W)
VDC (2800W)
Station Power Compatibility
120 to 300 VDC Boost (900W)
For Official NASA Use Only

11. Electrical Design Overview
MLVDS to
Brainstem
MLVDS Communications
Link (50 Mbit/s)
Control Update Rates
Impedance Control – 350Hz
Cartesian Control – 50Hz
(4) Super Driver
Controller Board
(5) Series Elastic
Actuators
(1) Super Driver
Controller Board
MLVDS to
Lower Arm
Joint Level Control Update Rates
Torque Control – 10KHz
Motor
Analog
APS
Analog
APS
Spring
Safety Encoder
For Official NASA Use Only

12. Electrical Design Overview
MLVDS Communications
Link (50 Mbit/s)
MLVDS to Upper Arm
and Brainstem
Motor Driver Board
High Speed Serial Link
5 Mbit/s
High Speed
Serial Link
50 Mbit/s
Finger
Processor
Forearm
Controller
(16) Finger Actuator
Tension
Sensor ADC
Proximal
Finger
(2) Wrist Actuator
Medial
Finger
Palm
Finger
Sensor & Control Update Rates
Tension – 350Hz
Phalange – 50Hz
Hall – 350Hz
Impedance Control – 350Hz
Cartesian Control – 50Hz
Finger
Phalange
Force
Sensor
Finger
Hall Position
Sensor
Tendon Force
Sensor
For Official NASA Use Only

13. Electrical Design Overview
Gigabit
Ethernet Hub
(3) Super Driver
Controller Boards
(2) TeleOp Camera
GigE to Vision
Computer
(2) Hi Res Camera
USB II Hub
USB II to Vision
Computer
IR Range Imager
(3) Actuators
Auxiliary Area
Lighting
Laser Crosshair
Target Projector
MLVDS to
Brainstem
Analog
APS
Motor
Safety Encoder
For Official NASA Use Only

14. Commanding and Data Processing Flow
For Official NASA Use Only

15. Real-time Application
System Architecture
Software Safety Limits
Motion Planning
System
Control Panel
Task Planning
“Brain Stem”
Real-time Application
Robot Control Network
System Commander
High -Speed Serial Bus
Distributed
Sensing Interface
Haptic Algorithms
Vision Algorithms
Vision Cameras
GigE
For Official NASA Use Only
Auxiliary Sensing PC

16. For Official NASA Use Only
Display Overview
For Official NASA Use Only

17. For Official NASA Use Only
Display Overview
For Official NASA Use Only