DETAILE

D DESIG

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NOVEMBER 11, 2

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P1

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01

TORQUE ANALYSIS: HIP SERVOMax Torque Condition on Hip Servo when leg fully extended and // to ground

F1 F2

Tmax+

F1= ρal*t1(2*L2*W1+(L2-1.25)*W2)F1=15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45F1=13.90 oz

F2= ρal*t1(2* (L3-L2) *W1+(L3-L2-1.25)*W2)F2=15.6*0.0625(2*(10.72-5.22)*0.78

+(10.72-5.22-1.25)*1.45F2=14.37 oz

S1 S2 S3

S1=S2=S3=SHT = 2.18 oz S4=2SLT= 3.88 oz S4

L1L2

L3

L1= 0.78’’L2=5.22’’L3=10.72’’

𝑇𝑚𝑎𝑥=(𝑠2∗𝐿1 )+(𝐹 1∗(𝐿1+ 𝐿2−𝐿12 ))+(𝑠3∗𝐿2 )+(𝐹 2∗(𝐿2+ 𝐿3−𝐿22 ))+(𝑠¿¿4∗𝐿3)¿

𝑇𝑚𝑎𝑥=(2.18∗0.78 )+(13.90∗(0.78+ 5.22−0.782 ))+ (2.18∗5.22 )+(14.37∗(5.22+ 10.72−5.222 ))+(3.88∗10.72)

𝑇𝑚𝑎𝑥=210.90𝑜𝑧−𝑖𝑛 Factor of Safet 𝑦=417210.90

=1.98

TORQUE ANALYSIS: LEG SERVOS

Servo Information

Leg LayoutServo Type Dimensions Max Torque

“Tmax” (oz-in)

Weight “W” (oz)

High Torque (HT)

1.57 x 0.78 x 1.45

417 2.18

Low Torque (LT)

1.57 x 0.78 x 1.45

124 1.190.78’’

5.22’’

Hip Lift: 1 HT Servo

Knee: 1 HT Servo

Ankle: 2 LT Servos

Hip Torsion: 1 HT ServoAssumptions

-Link weight acts at center of link-Links made of Aluminum ρal = 15.6 oz/in3

-Link Thickness: t=1/16’’-Links are the width of the servo and cover top-Links are on both sides of servos

10.72’’

TORQUE ANALYSIS: KNEE SERVOMax Torque Condition on Knee Servo when Thigh // to ground & Shin ┴ to ground

L2

Additional Assumptions-Each Arm consists of 1LT & 3 HT Servos-Neck has 2 LT Servos-Hip Joint has 3 HT Servos-Arm Links are same as leg links (conservative)-Torso + Electronics weigh 4 lbs (64oz)-Each Knee has to lift ½ weight of robot--Upper body leaning such that half weight is at thigh and other half is halfway b/t thigh and knee

L3-L2

𝑊 𝑟

4𝐹 1+

𝑊 𝑟

4

+Tmax

L2=5.22’’L3-L2=5.5’’

F1=6.76 oz

Wr = 2Warm+Wneck+2Whip+Wtorso

Wr=2*(1LT+3HT+F1)+2LT+3HT+48Wr=2(1.94+3*2.18+13.9)+(2*1.94)+2(3*2.18)+64) Wr= 128.54oz

𝑇𝑚𝑎𝑥=𝑊 𝑟

4∗𝐿2+

𝐿22 (𝑊 𝑟

4+𝐹 1)

𝑇𝑚𝑎𝑥=128.544

∗5.22+ 5.222 ( 128.544 ∗+13.90)

𝑇𝑚𝑎𝑥=258.85𝑜𝑧−𝑖𝑛 1.61

TORQUE ANALYSIS: PUSH UP

Servo Information

Servo Type Dimensions Max Torque “Tmax” (oz-in)

Weight “W” (oz)

High Torque (HT)

1.57 x 0.78 x 1.45

417 2.18

Low Torque (LT)

1.57 x 0.78 x 1.45

124 1.19

Assumptions-Link weight acts at center of link-Links made of Aluminum ρal = 15.6 oz/in3

-Link Thickness: t=1/16’’-Links are the width of the servo and cover top-Mass of 2 lbs at chest used to estimate internal electronic components and hip mass of 1 lb used to estimate battery

Push-up Layout

F

F

+O

182mm

118mm

201mm

118mm

140mm

120mm

140mm

120mm

120mm

TORQUE ANALYSIS: PUSH UPMax Torque Condition on Hip Servo when leg fully extended and // to ground

F1F2

To+

F1= ρal*t1(2*L2*W1+(L2-1.25)*W2)F1=15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45F1=13.90 ozF2= ρal*t1(2* (L3-L2) *W1+(L3-L2-1.25)*W2)F2=15.6*0.0625(2*(10.72-5.22)*0.78

+(10.72-5.22-1.25)*1.45F2=14.37 oz

S1 S2

S1= 2*2.18 oz = 4.36 oz S2= 6*2.18 oz = 13.08 oz S3= 4*2.18 oz = 8.72 oz

M

L1L2

L3

L1= 182mmL2= 383mmL3=501mmL4=620mm

+(*) – (F * )

𝐹𝑎𝑡 h𝑠 𝑜𝑢𝑙𝑑𝑒𝑟𝑠=52.53𝑜𝑧

Factor of Safet 𝑦=417289.94

=1.44

L4

S3

F

M=2lbs

, assume T=0 at o (moment balance)

F+(8.72*620))/620

T

TIGERBOT DRAWING

TORSO DRAWING

ARM LINK DRAWING

LEG U BRACKET DRAWING

HIP MOUNT DRAWING

THIGH LINK DRAWING

SHIN LINK DRAWING

FOOT DRAWING

STRESS ANALYSIS ARM LINK

STRESS ANALYSIS ARM LINK

STRESS ANALYSIS SHIN LINK

STRESS ANALYSIS SHIN LINK

STRESS ANALYSIS THIGH LINK

STRESS ANALYSIS THIGH LINK

BOARD COMMUNICATIONS

INTELLIGENCE BREAKDOWN

SENSING CONTROL

BATTERY ANALYSIS.

Battery Type

Voltage

Current Dimension (mm)

Weight(g)

LiPo 13500XL

7.4V 13500mah 162x45x39

654

Ah

DEVICE SPECIFICATIONS

Device 5990TG

8498HB

ARC32

ARDUINO 2560

IOIO REGULATOR

PROXIMITY SENSOR

7.4 7.4 7.4 7.4 7.4 7.4 5

380 240 100 100 377 500 40

10 8 - - - - 20

Quantity 10 12 1 1 1 1 5

ROBOT IDLE POWER CALCULATION-Assume ten servos and the electronics are power on but in idle mode-All the Proximity and touch are off

ROBOT WALKING POWER CALCULATION

-Assume certain numbers of the servos are used and the electronics are power on

PSEUDO CODE

REFER TO ACTIVITY DIAGRAM FOR ANDROID AND ARDUINO PSEUDO

CODE.

JON WILL TALK ABOUT THE ARC32 CODE LATER.