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  1. Design Project Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park Seoul National University of Technology

  2. Toy gun/DSP

  3. Aluminum Body Mass=0.7189kg

  4. Motor RS-226 DC: 4.8~7.2V Speed: 0.20 s/60degree Torque: 26kg*cm Weight: 60g Size: 41*20*38mm Seoul National University of Technology

  5. Components & Weight • 12 Motors : 60g*12=720g • 2 Motors : 60*2=120g • Battery : Less than 800g • Camera : Generally 100~150g • Toy gun : 390g • DSP board : 100g • Aluminum 2T-5052 : Less than 800g • Other parts : 100g Seoul National University of Technology

  6. Modeling

  7. Torque calculation • Total weight for the body : 2 Motors+Battery+Camera+DSP+Al+Parts 120+800+150+390+100+800 +100 < 2.5kg • Body Size - 20cm*20cm

  8. Torque calculation 2.5kg Total Torque = Weight*Distance = 2.5kg*19cm = 47.5kg*cm In case of movement, only two legs put on ground. Therefore, torque for one leg in that case.. Total Torque/2=47.5/2=23.75kg*cm RS-226 torque is 26> 23.75 20cm

  9. To make frames CNC machine Size : 600 * 700 * 80 mm Materials : Plastic, Al, Acryl Accuracy : 0.05mm

  10. Control Part We’ve… - Studied the motor(RX-28) - Understood a C language example provided -Studiedcircuits : Power supply, Switch circuit , communication circuit - bought circuit stuffs

  11. Control Part We will… - buy RS-226 motors - study how to control servo motor

  12. Q & A Thank you Seoul National University of Technology