1. Tigerbot P15201 Detailed Design Review

2. Mechanical

3. Torque Recalculations ●Added min and max in walking motion.

4. Servos and Motors Selection (Walking)

5. CAD Models (Full Assembly)

6. CAD Drawings Cont. (Torso)

7. CAD Drawings Cont. (Lower Body) Lazy Susan Hip Design

8. Manufacturing ●Process o Get Stock Aluminum o Square it to dimensions o Bend into U bracket o Weld rod to 2 brackets (one on each side) ●*Welding Depends on Rob Kraynik(ME Shop Machinist) schedule. Easy task to accomplish; risk: lead time

9. Schedule (Manufacturing)

10. Testing Plans ●Torque Output: o Test the servo with the gear combination for the required torque output. ●Degrees of Freedom: o Measure overall range of each joint

11. Electrical

12. Expected Power

13. We plan on using a fixed 48V 32A DC supply to test the design and gain an accurate measure of current draw. Our power draw estimates currently assume a 4A draw by the servos For purely walking: Ptotal=20A at 48V= 960W | ~20A For tour scenario: Pwalk= 20A at 48V = 960W | 8A Pstand= 15A at 48V= 720W | 9A Ptotal=60%Pstand+40%Pwalk=816W |~20A Based on new information, our current draw will be less than 4A. Therefore our power required will be less than the worse case, which is less than 960W. If, we were to purchase a battery, our solution would be,

14. Wiring ●8 AWG wire used for battery to distro board ●8 AWG wire used from power supply to distro board (in place of batteries) ●18 AWG wire used for servo power (distro to servo) ●18 AWG wire used for servo control (microcontrollers to servo) o 18 AWG chosen to fit MOLEX crimp pins for servo connections ●28 AWG ribbon cable used for sensor wiring (power, data, I2C, etc.)

15. Servo Connections ●MOLEX Minifir Jr. series mates with Teknic servo power/control connectors o 4 pin for power o 8 pin for control

17. Schematic Refer to handout please

18. Custom PCBs ●1 (x2) for FSR support circuitry ●1 (x1) for servo power distribution ●1 (x5) for ADC and support circuitry ●8 total Advanced Circuits offers 60 in 2 of 2 layer board space for $33 to students

19. Sensors Force Sensing Resistor (FSR): FlexiForce Sensors: A201- Connector 3-pin male square pin Weight Range: 0-1 lb (4.4 N) 0-25 lb (110 N) 0-100 lb (440 N)** **Weight range can be increased with the proper circuit layout We used the recommended circuit in the spec sheet and modified it

20. Sensor

22. From the manufacturer

23. Sensor RFID: At this time we have decided to not choose a RFID solution. Due to the scope of our project a RFID solution will be generated if there is time available.

24. Sensor Object Detection: Parallax Ping Ultrasonic and Sharp IR: We plan to use a combination of sensors for object detection in the path of the robot. Ultrasonic will provide long range and IR will provide close range detection.

25. Sensor Sharp IR Distance Sensor - GP2D12 Alternative Connector: 3 pin with analog output Detection: 10-80cm. Will require additional cable

26. Sensor Parallax Ping Ultrasonic: One of two options we are testing. Connection: 3 pin bidirectional TTL Detection: 0.02 to 3 m Concern: Based on testing, it may not have a fast enough response time. We are considering alternatives.

27. Sensor 25k Potentiometer Use as simple position feedback for the servos

28. ItemPartDescriptionLink/Manufacturer Unit Price Quantit y Extended Price E1Wired PSU 48VDC 32A servo power supplyhttp://www.trcelectronics.com/View/Mean-Well/RSP-1500-48.shtml$348.301 L2Pololu 5V PSU5V regulated PSUhttp://www.pololu.com/product/2851$14.951 E3Pololu 3.3V PSU3.3V regulated PSUhttp://www.pololu.com/product/2110$14.951 C4 3M 3365/20 20COND, 100FT, 28AWG, 300VRibbon Cable http://www.newark.com/3m/3365-20/cable-ribbon-20cond-100ft- 28awg/dp/03F5908$35.801 T5ADC128D81812-bit ADC http://www.digikey.com/product- detail/en/ADC128D818CIMT%2FNOPB/ADC128D818CIMT%2FNOP B-ND/2262897$5.905$29.50 R6 Custom Li-Ion Battery: 7.4V 6.6Ah LiPo Battery for Sensors http://www.batteryspace.com/custom-li-ion-battery-7.4-v-6600-mah- 44.84-wh-battery-module-with-pcb.aspx$58.901 I7 HIGH C-RATE LIPO BATTERY LiPo Battery for Servos http://www.bmsbattery.com/battery-pack/664-36v-12ah-38140- lifepo4-battery-12-cells-ebike-battery-pack.html$219.002$438.00 C825k PotPotentiometerhttp://www.smallbearelec.com/servlet/Detail?no=688$1.0022$22.00 A9Parallax PING)))Ultrasonic Sensor http://www.parallax.com/sites/default/files/downloads/28015-PING- Documentation-v1.6.pdf$29.991 L10 GP2D12 Alternative (10-80 cm)*Sharp IR Sensor http://www.trossenrobotics.com/sharp-ir-distance-sensor- gp2d12.aspx$12.956$77.70 11Dev. boardRFID http://www.digikey.com/product-detail/en/TRF7970ATB/296-31310- ND/2833503$50.001 12 FlexiForce Sensors: A201 Force Sense Resistorhttp://www.tekscan.com/flexible-force-sensors$117.001 13Teensy MicroMicrocontrollerhttps://www.pjrc.com/teensy/$15.955$79.75

29. 14 Micro USB-USB 2.0 Sync Data Charge CableWire http://www.newegg.com/Product/Product.aspx?Item =9SIA1UA1UH3571&cm_re=micro_usb_to_usb-_- 9SIA1UA1UH3571-_-Product$0.9810$9.80 1518AWGWire https://www.parts-express.com/jsc-wire-18-awg- red-black-zip-power-speaker-wire-1-ft-usa--100-050$0.31340$105.40 164 pin MOLEX connectorservo power connector http://www.digikey.com/product- search/en?x=0&y=0&lang=en&site=us&keywords= 39012040$0.3123$7.13 178 pin MOLEX connectorservo control connector http://www.digikey.com/product- search/en?KeyWords=39012080&WT.z_header=se arch_go$0.4523$10.35 18MOLEX crimp pinservo crimp pin http://www.digikey.com/product- detail/en/0039000038/WM2501CT-ND/467978$0.10300$30.00 1930A screw terminal power distro screw terminal http://www.digikey.com/product- detail/en/8196/8196K-ND/316832$0.794$3.16 208 AWGWire https://www.parts-express.com/jsc-wire-8-awg-red- high-current-power-cable-1-ft-usa--100-178$0.9525$23.75 21StarTech ST7202USB7 Port USB 2.0 Hub http://www.newegg.com/Product/Product.aspx?Item =9SIA24G2179518&cm_re=usb_hubs_powered-_- 17-707-143-_-Product$19.411 2250ft 12 AWG 3 conductor wirePower wire https://www.parts-express.com/carol-12-awg-3c- sjoow-power-cable-50-ft--100-578$51.011 2315A industrial AC plugPower connector http://www.homedepot.com/p/Pass-Seymour-15- Amp-125-Volt-Industrial-Grade-Straight-Plug- PS5266XCCV4/202664475$8.681 24TL074General Purpose Op-Amphttp://www.ti.com/product/TL074/description$0.692$1.38 25IC Sockets14 pin IC socket http://www.digikey.com/product-detail/en/AR14- HZL-TT-R/AE10012-ND/821766$0.792$1.58

30. 26Resistors1kOhm 0.25Whttp://www.circuitspecialists.com/rc1000.html$0.1016$1.60 27Resistors4kOhm 0.25Whttp://www.circuitspecialists.com/rc4020.html$0.108$0.80 28Resistors10kOhm 0.25Whttp://www.circuitspecialists.com/rc10k.html$0.1020$2.00 29Bypass CapacitorTantalum, 0.1 uf http://www.taydaelectronics.com/capacitors/0 -1uf-35v-radial-tantalum-capacitor.html$0.1110$1.10 30Bypass CapacitorCeramic, 0.1 ufhttps://www.sparkfun.com/products/8375$0.2510$2.50

31. UPDATE:

32. Computer

33. Pandaboard

34. ROS for a Leg

35. Message Passing

36. ROS Stack

37. ROS Nodes

38. I2C - working! IMU - interfaced and reading data ROS - learned much, but still much to learn Simulation - learning ros, we have simple moving models working. Simulation - Currently working on interfacing controls, this will be applied to tigerbot when more is learned. Online teensy programming - works manually, working on automated script ROS intro tutorial - DONE! Teknic motor control update - Pulse Burst Positioning appears to be the best control method, the desired distance (rotation) is proportional to the number of pulses sent to the motor. 2 velocities can be preprogrammed. Work on ROS / CPU / Sim status

39. Questions?