1. Seoul National University of Technology 1 Design Project Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park

2. Toy gun/DSP

3. Aluminum Body Mass=0.7189kg

4. Motor 4Seoul National University of Technology RS-226 DC: 4.8~7.2V Speed: 0.20 s/60degree Torque: 26kg*cm Weight: 60g Size: 41*20*38mm

5. Components & Weight 12 Motors : 60g*12=720g 12 Motors : 60g*12=720g 2 Motors : 60*2=120g 2 Motors : 60*2=120g Battery : Less than 800g Battery : Less than 800g Camera : Generally 100~150g Camera : Generally 100~150g Toy gun : 390g Toy gun : 390g DSP board : 100g DSP board : 100g Aluminum 2T-5052 : Less than 800g Aluminum 2T-5052 : Less than 800g Other parts : 100g Other parts : 100g 5Seoul National University of Technology

6. Modeling

7. Torque calculation Total weight for the body : 2 Motors+Battery+Camera+DSP+Al+Parts 120+800+150+390+100+800 +100 < 2.5kg Body Size - 20cm*20cm

8. Total Torque = Weight*Distance = 2.5kg*19cm = 47.5kg*cm In case of movement, only two legs put on ground. Therefore, torque for one leg in that case.. Total Torque/2=47.5/2=23.75kg*cm RS-226 torque is 26 > 23.75 Torque calculation 20cm 2.5kg

9. To make frames CNC machine Size : 600 * 700 * 80 mm Materials : Plastic, Al, Acryl Accuracy : 0.05mm

10. Control Part Weve… - Studied the motor(RX-28) - Understood a C language example provided - Studied circuits : Power supply, Switch circuit, communication circuit - bought circuit stuffs

11. We will… - buy RS-226 motors - study how to control servo motor Control Part

12. 12Seoul National University of Technology Q & A Thank you