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 | 430 mm | 16.3" |
Depth | 400 mm | 15.7" |
Floor Base Dimensions | Metric | Imperial |
---|---|---|
Base Diameter | 480 mm | 19" |
Base Depth | 30 mm | 1.25" |
Base Weight | 11.5 kg | 25 lbs |
Mechanical Features
Mechanical Features |
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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 |
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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 mini-PC (NUC) |
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 mini PC (NUC) | 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 |
Kinematics
Degrees of freedom and angular range of movement: RoboThespian Kinematics