P16201: Tigerbot
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Preliminary Detailed Design

Table of Contents

Team Vision for Preliminary Detailed Design Phase

Vision and Results

All Phase 4 Accomplishments

After our last design review we started working on designing critical sensor PCBs, finalizing the lower body design and selecting motors, ordering components to reconstruct the 15201 leg design, and creating a very high level overview of the Teensy code. Today, we have a completed FSR PCB design that has been prototyped, a finished ADC PCB design and implementation, a design to test specific parts of the breakout PCB, and a first draft flow chart for the Teensy code. Mechanically, the lower body design has been mostly finalized, actuators have been abandoned in favor of a motor only design, and the design thickness and weight has been reduced greatly. For the next review we plan to have a final design, have the remaining sensor PCBs prototyped, and begin machining our leg design.

Prototyping, Engineering Analysis, Simulation

Test Rig For EEs

Level Shifter Test PCB

public/Detailed Design Documents/Preliminary Detailed Design Review/snapshots for Edge/LevelShifterTestPCB(breakout).PNG

In order for the Teensy 3.2 to communicate with the various digital components (including the motors) which operate at 5 V, level shifters are necessary. A failing of the previous revision of the breakout board was that the level shifters could not supply enough current. In order to avoid that situation, the breakout this time will be fully prototyped. This requires a test PCB for connection to the level shifter. To that end, the level shifter test PCB was developed in cooperation with Benjamin Haag, of the Tigerbot V team.

Video of FSR test

(Refer to page 3 of the provided handout)

Link to FSR test video

Link to FSR test documentation

Revised Torque Analysis

(Refer to page 5 of the provided handout)

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Link to download revised Torque Estimates spreadsheet

Schematics and Flow Charts

Teensy Code Flowchart

(Refer to page 6 of the provided handout)

public/Detailed Design Documents/Preliminary Detailed Design Review/snapshots for Edge/Teensy Code Flow Chart (11.10.15).PNG

A very top-level overview of the individual Teensy code functionality.

Wiring Diagram

(Refer to page 12 of the provided handout)

public/Detailed Design Documents/Preliminary Detailed Design Review/snapshots for Edge/Wiring Diagram.PNG

A preliminary overview of the electrical system for the lower body.

Breakout Flowchart

(Refer to page 4 of the provided handout)

public/Detailed Design Documents/Preliminary Detailed Design Review/snapshots for Edge/Breakout Flowchart - New Page.jpg

The breakout will be fully prototyped before building. Changes from the previous revision of the breakout board include removing level shifter 1 V capabilities, and the change from bidirectional to unidirectional level shifters. As the motors appear to have 3 inputs and 1 output each, and no bidirectional busses, this does not appear to be an issue. The previous revision of the flowchart has two dedicated lines for the I2C bus, which do not run through the level shifter. This is kept in this revision, and will be tested.

Bill of Materials (BOM)

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Link to download most recent Bill of Materials

Test Plan

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Link to download revised Test Plan Document spreadsheet

Mechanical Design

Actuators hybrid design

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90% lower body design

(Refer to pages 7-10 of the provided handout)

PLEASE NOTE: THIS IS NOT THE MOST UP TO DATE MODEL. PLEASE SEE LOWER BODY DESIGN WITH ANGLED LEGS. THE TORSO FRAME HAS BEEN UPDATED TO INCLUDE AN ANGLE. BEARINGS AND SCREWS HAVE BEEN ADDED TO JOINTS. MOTORS HAVE BEEN CHANGED.

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public/Detailed Design Documents/Preliminary Detailed Design Review/snapshots for Edge/aj_pdd_front_leg_detail.PNG

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public/Detailed Design Documents/Preliminary Detailed Design Review/snapshots for Edge/aj_pdd_top_torso_detail.PNG

Lower body design with angled legs

(Refer to page 11 of the provided handout)

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Risk Assessment

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Link to download most recent Risk Assessment spreadsheet

Design Review Materials

Plans for next phase

Action Items:

MSD 1 Project Plan

public/Detailed Design Documents/Preliminary Detailed Design Review/snapshots for Edge/16201_project_plan_phase_5.PNG


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