P13203 TigerBot Extension

P13203 TigerBot ExtensionMike Lew (ISE), Dan Wiatroski (ME), Tom Whitmore (ME), Geoff Herman (ME), Sean Lillis (CE), Brian Stevenson (EE), James O’Donoghue (CE), Mohammad Arefin (EE)

AgendaProject ObjectivesPrevious ModelsShell DesignMechanical DesignElectrical DesignComputer DesignQuestions

Project ObjectivesDesign and build a humanoid robot platform,

with human-like proportions and movement, capable of interacting with people and its surroundings.◦ Walk in straight line, and turn◦ Autonomous, untethered operation for up to 30

minutes◦ Capable of balancing in stationary standing position◦ Support 125% of total robot weight◦ Obstacle avoidance capable◦ Voice activated◦ Able to recover and upright self after a fall◦ Durable enough to withstand a fall

Previous Models

TigerBot

TigerBot 2

TigerBot 3

Shell DesignShell modeled after

“Ironman” for aesthetics and to protect internal electrical/computer components

Designed using Pepakura software

Made from 0.016” aluminum to be as light as possible while still providing sufficient protection

Head Design

Front Chest

Back Plate

Component Layout

Mechanical Design 23 Rotational Degrees of Freedom (4 per arm, 6 per leg, 1

in torso, 2 in head) Full load bearing joint design at every axis of rotation,

allowing completely free and unrestricted servo rotation Servo motors take no structural loads, and therefore are

easily removable from joints Shoulder height of 26” with all dimensions proportional to

actual human subject Projected total mass of 8.5 kg (~18.75 lbs), Actual mass

without shell of 18.5 lbs Low center of gravity to assist functionality (~2” below

pelvis plate) Combination of higher torque XQ-S56 servos (legs) and

Roboard RS1270 servos (upper body) based on joint torque requirements

Mechanical Design

Complete CAD Model (SolidWorks)

Mechanical Design

Knee - Exploded View

Elbow – Close Up

Electrical DesignCustom PCB designed

to distribute battery power

Proper voltage distribution to all components

Added fuse and switches for protection

Low battery indicatorI2C communication

capability 

Custom PCB - Powerboard

Electrical DesignCustom PCB

designed for measuring currents drawn by each servo

Capable of sensing current for 25 servos at once

Uses “Hall Effect” current sensors, providing low power consumption

Custom PCB – Current Sensing

Computer Design32-bit Roboard Vortex86

CPU with 256MB DDR2 RAM and 16GB Class 10 SD Card running Ubuntu

ATmega2560 Arduino with 16 analog input ports

9-Axis IMU (Accelerometer, Magnetometer, and Gryoscope)

EasyVR Voice Recognition with 26 pre-programmed commands and up to 9 minutes of audio playback

Roboard RB-100 CPU

9-Axis IMU

EasyVR Voice Recognition

Questions?