P17201: TigerBot VII: The Force Awakens
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Preliminary Detailed Design

Table of Contents

Team Vision for Preliminary Detailed Design Phase

ME: Finalize lower body design

ME: Begin Simulation of loading on critical parts

EE: Finalized Component Selection

EE: Redesign of Circuits

EE: Refined ROS Topology

EE: Control System Design

Mechanical Design

Overall Design
Front View

Front View

Hip Design

Hip

Hip

Knee Design

Knee

Knee

Ankle Design

Shank and Ankle

Shank and Ankle

Foot Design

Foot

Foot

Foot

Foot

Prototyping, Engineering Analysis, Simulation

Stress Analysis at 4x expected loading
Ankle Stress Profile

Ankle Stress Profile

Deformation and 4x expected loading

Ankle Stress Profile

Ankle Stress Profile

Drawings, Schematics, Flow Charts, Simulations

EE Schematics and Flow Charts

Full Schematic Image

Full Schematic Image

Encoder Schematic

Encoder Schematic

Motor Schematic

Motor Schematic

Top Level Control System

Top Level Control System

EE ROS and Code

ROS Topology

ROS Topology

Code: Object Declaration

Code: Object Declaration

Code: Private Variables

Code: Private Variables

Code: Public Variables

Code: Public Variables

Remaining Component Selection

Encoder Benchmarking

Encoder Benchmarking

Bill of Material (BOM)

Preliminary EE BOM

Preliminary EE BOM

Plans for next phase

Gantt

Gantt


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