Parameterization of SOA formation for α- pinene , based on a detailed mechanism
DETAILED DESIGN REVIEW NOVEMBER 11, 2011 MSD I HUMANOID ROBOT P12201.
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Transcript of DETAILED DESIGN REVIEW NOVEMBER 11, 2011 MSD I HUMANOID ROBOT P12201.
DETAILE
D DESIG
N REVIE
W
NOVEMBER 11, 2
011
MS
D I
HU
MA
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I D R
OB
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P1
22
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.