Overview 2 DOF in Head

4 DOF/Arm

1 DOF in Torso

6 DOF/ Leg

BODY DIMENSIONS

~25.5” Tall (feet to shoulder)

10” Shoulder Width2.5” Torso Width

Custom Servo Brackets4 Simple brackets for

multiple servo mounting orientations◦Side mount◦Bottom mount◦Large “C” bracket

Single plane dual axis rotation

◦Shoulder Rotation

Side Mount

Bottom Mount

Large “C”

Shoulder Rotation

LINKS & BRACKET INTEGRATION

Simple Aluminum rods, ¼”

Cut to length Height adjustability

Very cheap (~$7 per 6ft) Integrates into standard

servo brackets.Simple 6-32x1/2” machine screws for assembly

Custom Brackets

Store bought Brackets

Arm Assembly

HIP DESIGN Ball Bearing

◦ Axial and Radial Loads

◦ Low rotation friction

◦ Ball Bearings are cheap

Reduce stress on servo horn◦ Increased hip

Stiffness

-Green Rotation-Gray Static

TORQUE REQUIREMENTS

(cos(ϴ))+g1(L1/2)(cos(ϴ))

T2=(g2)(L2/2)(cos(ϴ))+(L2)(g3)

T3~0

T1

T2

T3

Squat

T3

F

Leg Lift

Push up

F/2 F/2

Te Te

TORQUE RESULTS

ROBOARD SERVO SPECS• Standard size digital servo• Torque @7.4V: 35.0 kg-cm/486.0 oz-in• Speed: 0.11 sec/60º• Voltage: 6 to 7.4V • Weight: 70g

leg lift (1 leg) Squat (2 leg)

Torque at Hip Ankle Knee

MAX (lb-in) 14.44402961 18.74911 18.73543

(oz-in) 231.1044738 299.9858 299.7669

FS 2.076982726 1.600076 1.601244

Elbow TorqueF (lbs) 5.118229269in-lb 16.53188054oz-in 264.5100886FS 1.837359031

weight (lbs)

foot (ALL) 1.4708Lower Leg Links 0.0415Knee servo 0.1543Knee C-Bracket 0.0300Knee bottom Bracket 0.0100TOTAL KNEE JOINT 0.1943Upper leg Links 0.0377Hip C-bracket 0.0300Hip servos 0.4630Hip Brackets 0.0522TOTAL HIP JOINT (1 side) 0.5451TOTAL ABOVE HIP (2 sides) 5.6574 8.2165Hip plate 0.1100Hip components 0.1500Torso plate bottom 0.1000Torso plate top 0.2100Torso servo 0.1543Torso links 0.6509Other torso weight 1.2000Shoulder servos 0.3086shoulder brackets 0.0522upper arm C-bracket 0.0300Upper arm servo 0.1543upper arm links 0.0188upper arm brackets 0.0500elbow servo 0.1543lower arm C-bracket 0.0300lower arm links 0.0377lower arm bracket 0.0100Neck 0.3000TOTAL BODY 10.2365 2.5591

Stress Analysis Bottom Bracket

Stress Hip/Shoulder Bracket

Stress Analysis Elbow Bracket

Stress Analysis Leg Assembly

Deformation Leg Assembly

Power CalculationPart Name Function Required

VoltageQuiescent

CurrentActive

CurrentPower / Per

Number TotalPower

EasyVR Speech Module

voice commands

5V 1mA 180mA .9W 1 0.9

RoBoard RB-110

maincomputer/processor

6-24V 400ma 2W 1 2

LV-MaxSonar-EZ0

ultrasonic rangefinder

2.5-5.5 2mA .01W 2 0.02

GP2Y0A02YK0

IR rangefinder 4.5-5.5 33mA 0.165 4 0.66

IMU Combo Board

Internal Gyro/Accelerom

eter

3.3V 45uA 6.75mA 0.022 1 0.022

RoBoard RS-1270

Servo 7.4 5mA 1.5~5A 11.1~37W

22 ~66

70W

Controller Model Roboard RB-100

Processor DM&P Vortex86DX running at 1GHz

Memory 256MB DDR2 onboard

ADCs Analog Devices AD-7918 10-bit

I /O Interface •Micro SD slot x1•USB port x 1 (USB 2.0 version)

Connectors

•2.54 mm 3-pin box header for PWM x 24•2.54 mm 10-pin box header for RS-232 x1•2.54 mm 10 -pin box header for USB x1•2.0 mm 4-pin header for RS-485 x1•2.0 mm 4-pin header for TTL serial x1•2.54 mm 10 -pin box header for SPI & I 2C x1•2.54 mm 16-pin header for A/D x1•1.25 mm 3 -pin wafer for TTL serial x 1•1.25 mm 4 -pin wafer for LAN x 1•1. 2 5 mm 4-pin wafer for MIC-in x 1•1. 2 5 mm 4-pin wafer for Line-out x1•1. 2 5mm 6-pin wafer for JTAG x1•0.8mm 124-Pin Mini PCI Card connector•3.96 mm 2 pin for Power x 1

Power Consumption +5V @ 400mA

Power Input DC-in 6V to 24V

Dimension 96 x 56 mm

Weight 40g

Resolution

PWM : 20nsSerial : 115200bpsI2C : 1Kbps ~ 3.3MbpsSPI : 10Mbps to 150Mbps Half-Duplex;