1 / 5

P11213 Robotic Arm Analysis

P11213 Robotic Arm Analysis. Typical Servo Current: 830 mA no load @ 6V 3000+ mA max holding @ 6V. 3 Motor Case : -Based on mechanical calculations for arm -Assuming 932 oz/in holding torque for motor 1 -Assuming 434 oz/in holding torque for motor 2

taro
Download Presentation

P11213 Robotic Arm Analysis

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. P11213 Robotic Arm Analysis Typical Servo Current: 830 mA no load @ 6V 3000+ mA max holding @ 6V 3 Motor Case: -Based on mechanical calculations for arm -Assuming 932 oz/in holding torque for motor 1 -Assuming 434 oz/in holding torque for motor 2 (i.e. worse case operation for motors – locked holding a load) Calculations: MaxI= 3A + 3A = 6A+ If constantly in use, we need a battery that can at least 0.5 C of discharge for a 12 Ah battery to get 2 hours of use (just the arm)

  2. P11213 4-Bar Analysis Typical Servo Current: 285mA no load @ 6V 3000 mA max holding @ 6V 1Motor Case: -Based on mechanical calculations -Using a servo with 200 oz in stall torque -Assuming max torque from setup 100 oz in Calculations: MaxI=~ 1000 mA If constantly in use, we need a battery that can at least handle .25 C of discharge for a4Ah battery to get4 hours of use (just the MSA)

  3. P11213 Pros & Cons • 3 Motor Case: • Pros: • Servos have built in encoders so positioning the motors is simple compared to others • No motor drivers needed. • Cons: • Need some type of regulation (step down from batt voltage) to run servos • Expensive and complicated • Draws a significant amount of current

  4. P11213 IC to IC Communication Analysis • UART Case: • Highest speed for ATMega with External Xtal • @ 16 MHz : 31 kB/s • (~15.5 kB/s for internal OSC @ 8 MHz) • 1 byte (8 bits) per packet • Data communication packet structure:\ • Max Message Latency: • Time through USART: 7B / 31kBps = 225us • Time through USART: 7B / 15.5kBps = 450us UART UART

  5. P11213 IC to IC Communication Analysis • UART Case: • Same instruction set used through the RFfor the controls board: • Forward Backward Left Right M1 + M1 - M2 + M2 - M3 + M3 - M4 + M4 - M5 • + M5 - M6 + M6 - M7 + M7 - M8 + M8 – • 5 bit: instruction 0-31 • 4 bit: speed 0-15 • X bit: redundancy • 5 instructions at once • (5+4+9)*3= 54 bits/instruction set UART UART

More Related