P16201: Tigerbot
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Subsystem Design

Table of Contents

Team Vision for Subsystem-Level Design Phase

Team Vision:

After our last design review we decided to work towards an updated leg design, full electrical system diagram, and begin prototyping of electrical system components. We have modeled the leg design with both motors and actuators, tested the second revision of Tigerbot V’s ADC PCB, and have created a test plan to be initiated by the end of MSD I. We intend to choose between actuators and motors, create a lower body design, and have a full circuit schematic for the next review.

Action Items from Systems Design Review:

Feasibility: Prototyping, Analysis, Simulation

ADC REV1 TEST

Purpose of Test:

To ensure proper functionality of the ADC rev1 board

Test Description:

The ADC board will be connected to the Arduino using the main connector (bottom left, next to MC). There are five connections made; two address select (SDA and SDL), two supply power (5V and 3.3 V) and the ground. Then the test code is compiled to check the ADC for proper voltage selects.

Test Setup:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_EE_testing_101815_snap.png

Description of Code

This code is for testing the basic functionality of the ADC128D818 chip, on the Tigerbot V ADC PCB Rev1 by Ben Haag. It reads the input voltage on the In_1 header, and prints the result to the Arduino serial terminal. It assumes that the address is set to 0x1D, and an external reference voltage is being used. These settings can easily be changed within the code. There is a lot of room for improvement in this code, but its only purpose at this point is to verify that the board works correctly.

Result of Test

After the completion of the code, the serial terminal showed the proper voltage reading ( 3.3, 5.0 or 0) depending on which pin the connector was on. The figures below show the code and the result terminal.

Link to Test Results

Necessary ADC Board Changes

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_EE_testing_changes_required_101815_snap.png

ADC Board Rev 2

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_EE_testing_new_ADC_board_101815_snap.png

Actuator and General Torque Analysis

We will be using a similar method to 15201 to calculate required torque to each joint, but will replace their worst case scenarios with a more conservative method involving the full range of motion of the Tigerbot. Once 3d models are somewhat finalized we can update and change this spreadsheet to accommodate our designs and our torque estimation method.

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_torque_calculations_snap.PNG

Link to Preliminary Torque Calculations as of 10/19/15

Drawings, Schematics, Flow Charts, etc.

Electrical subsystem Diagram

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_electrical_system_diagram.PNG

3D models (WIP)

Nick (actuator method)

Isometric View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_right_leg_iso_snap.PNG

Front View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_right_leg_front_view_snap.PNG

Side View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_right_leg_side_view_snap.PNG

Motors and gearboxes:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_motor_close_snap.PNG

Actuators:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_actuator_assembly_close_snap.PNG

During the modelling process, several problems were found:

AJ (motor method)

Full Lower Half View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/aj_angled_lower_half.PNG

Front Ankle View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/aj_front_ankle_closeup.PNG

Side Ankle View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/aj_side_ankle_closeup.PNG

Front Leg View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/aj_front_leg_detail.PNG

Side Leg View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/aj_side_leg_detail.PNG

Top Torso View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/aj_top_torso_detail.PNG

Bottom Torso View:

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/aj_bottom_torso_detail.PNG

Bill of Materials (BOM)

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_bill_of_materials_snap.PNG

Link to Preliminary Bill of Materials as of 10/19/15

Risk Assessment

Risk Assessment Snapshot

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_Risk_Assessment_101315_snap.PNG

Link to revised risk assessment as of 10/19/15

15201 Item Search Update:

We are still in the process of pulling together materials purchased by 15201 team. As we find pieces, we have been moving them to our team locker on the Senior Design Center floor. To date we have 15201’s machined leg, a power supply for testing, an extra cycloidal gearbox, and an ADC PCB (rev. 1). There is also one Tigerbot V Teensy board being used in Tigerbot II in the robotics lab.

Testing Plan

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_test_plan_101515_snap.PNG

Link to revised Test Plan as of 10/19/15

Design Review Materials

Plans for next phase

For the next review we plan to:

Revised Project Plan

public/Detailed Design Documents/Subsystems design review/snapshots for Edge/16201_project_schedule_101315_snap.PNG

Link to revised project plan as of 10/19/15


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