RoboThespian Technical Spec

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RoboThespian >> RoboThespian At a Glance >> Technical Spec

Dimensions and weight

Robot Dimensions (Excluding floor base) Metric Imperial
Robot Weight 33 kg 72 lbs
Robot Height 1750 mm 5' 9”
Robot Width (shoulder to shoulder) 410 mm 16”
Robot Width (arms fully extended) 1750 mm 5' 9”
Robot Dimensions (Including floor base) Metric Imperial
Robot Weight 44 kg 97 lbs
Robot Height 1775 mm 5' 10”
Robot Width (floor base width) 480 mm 23.5”
Robot Width (arms fully extended) 1750 mm 5' 9”
Metal Touch Screen Kiosk Dimensions Metric Imperial
Weight 22 kg 49 lbs
Height 1014 mm 39.9”
Width 414 mm 16.3”
Depth 400 mm 15.7”
Floor Base Dimensions Metric Imperial
Base Width 600 mm 23.5”
Base Length 650 mm 25.5”
Base Depth 30 mm 1.25”
Base Weight 4 kg 9 lbs

Mechanical Features

Mechanical Features
Hybrid design with pneumatic and DC servo motor actuators for upper body, upper limbs and head
10 x Pneumatic 'Air Muscle' Actuators (Festo) with full proportional control and inherent compliance
8 x DC servo motors (Maxon) tuned for natural human motion profiles
8 x Pneumatic cylinder actuators for hands
1 x High speed servo motor for jaw actuation
Angular range details here for developers: RoboThespian Kinematics
Passive lower limb design will maintain centre of mass over support as legs fold
Actuation for legs available as optional extra
Chassis fabrication: 6082 Grade Aluminium
Wear parts hard anodised for longer life
DC motors with induction hardened output gears

Electrical Features

Electrical Features
12 bit absolute angular hall encoders on Air Muscle and DC servo axis
2 motion control boards for DC Servo, Pneumatic Air Muscle control
Closed loop control on 18 proportional axis
3 pneumatic valve controllers (4 channels per board) for closed loop pressure and flow control to 'Air Muscle' actuators.
Eyes with 240 x 320 QVGA 2.2” LCD displays, independently driven by embedded Linux module.
Interactive touchscreen kiosk with 19” touchscreen panel.
Onboard single board computer (SBC)
Asus Xtion Infra Red Depth Sensor
RGB webcam in head

Power usage

Note RoboThespian connects to a standard domestic mains outlet in the range 100v - 250v AC

Description Max current Max power consumption
RoboThespian robot Maximum 8.3amp at 24v Approx 200watts
Kiosk monitor Maximum 3amp at 12v Approx 50watts
Kiosk NUC PC Maximum 3.42amp at 19v Approx 65watts
Kiosk Router Maximum 1amp at 12v Approx 12watts
Jun-Air Model OF302-25B / OF302-25M Portable Air Compressor 3.4amp 230v (50Hz) model Approx 782watts
Jun-Air Model OF302-25B / OF302-25M Portable Air Compressor 6.6amp 120v (60Hz) model Approx 792watts