Difference between revisions of "RoboThespian Technical Spec"
Jump to navigation
Jump to search
(→Dimensions and weight) |
|||
(10 intermediate revisions by 2 users not shown) | |||
Line 4: | Line 4: | ||
=Dimensions and weight= | =Dimensions and weight= | ||
+ | [[File:RoboThespian with base and kiosk dims png.png|400px|thumb|right|RoboThespian with base and kiosk dimensions]] | ||
{| class="wikitable" | {| class="wikitable" | ||
|- | |- | ||
Line 10: | Line 11: | ||
| Robot Weight || 33 kg || 72 lbs | | Robot Weight || 33 kg || 72 lbs | ||
|- | |- | ||
− | | Robot Height || 1750 mm || 5' | + | | Robot Height || 1750 mm || 5' 9" |
|- | |- | ||
− | | Robot Width (shoulder to shoulder) || 410 mm || | + | | Robot Width (shoulder to shoulder) || 410 mm || 16" |
|- | |- | ||
− | | Robot Width (arms fully | + | | Robot Width (arms fully to side) || 1750 mm || 5' 9" |
+ | |- | ||
+ | | Robot Reach (back to fingertips - arms fully forwards) || 840 mm || 2' 9" | ||
|} | |} | ||
{| class="wikitable" | {| class="wikitable" | ||
|- | |- | ||
− | ! Robot Dimensions (Including floor base) !! Metric !! Imperial | + | ! Robot Dimensions (Including floor base) !! Metric !! Imperial |
|- | |- | ||
| Robot Weight || 44 kg || 97 lbs | | Robot Weight || 44 kg || 97 lbs | ||
|- | |- | ||
− | | Robot Height || 1775 mm || 5' | + | | Robot Height || 1775 mm || 5' 10" |
|- | |- | ||
− | | Robot Width ( | + | | Floor Base Width || 480 mm || 23.5" |
+ | |- | ||
+ | | Robot Width (arms fully to side) || 1750 mm || 5' 9" | ||
|- | |- | ||
− | | Robot | + | | Robot Reach (back to fingertips - arms fully forwards) || 840 mm || 2' 9" |
|} | |} | ||
Line 36: | Line 41: | ||
| Weight || 22 kg || 49 lbs | | Weight || 22 kg || 49 lbs | ||
|- | |- | ||
− | | Height || | + | | Height || 1020 mm || 3' 4" |
|- | |- | ||
− | | Width || | + | | Width || 430 mm || 16.3" |
|- | |- | ||
− | | Depth || 400 mm || 15. | + | | Depth || 400 mm || 15.7" |
|} | |} | ||
Line 47: | Line 52: | ||
! Floor Base Dimensions !! Metric !! Imperial | ! Floor Base Dimensions !! Metric !! Imperial | ||
|- | |- | ||
− | | Base | + | | Base Diameter || 480 mm || 19" |
− | |||
− | |||
|- | |- | ||
− | | Base Depth || 30 mm || 1. | + | | Base Depth || 30 mm || 1.25" |
|- | |- | ||
− | | Base Weight || | + | | Base Weight || 11.5 kg || 25 lbs |
|} | |} | ||
Line 125: | Line 128: | ||
| Jun-Air Model OF302-25B / OF302-25M Portable Air Compressor || 6.6amp 120v (60Hz) model || Approx 792watts | | 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]] |
Latest revision as of 12:02, 3 August 2021
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 to side) | 1750 mm | 5' 9" |
Robot Reach (back to fingertips - arms fully forwards) | 840 mm | 2' 9" |
Robot Dimensions (Including floor base) | Metric | Imperial |
---|---|---|
Robot Weight | 44 kg | 97 lbs |
Robot Height | 1775 mm | 5' 10" |
Floor Base Width | 480 mm | 23.5" |
Robot Width (arms fully to side) | 1750 mm | 5' 9" |
Robot Reach (back to fingertips - arms fully forwards) | 840 mm | 2' 9" |
Metal Touch Screen Kiosk Dimensions | Metric | Imperial |
---|---|---|
Weight | 22 kg | 49 lbs |
Height | 1020 mm | 3' 4" |
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 |
---|
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 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