Difference between revisions of "RoboThespian Kinematics"
(Created page with "<accesscontrol>robot_tech</accesscontrol> category:mechanical category:design information = Overview = This description relates to RT3 series robots. == Powered Axis...") |
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= Overview = | = Overview = | ||
| − | This | + | ''This relates to RT3 series robots, but is broadly applicable to RT4 with standard head (not projected) and non-gripping arms'' |
| − | = | + | [[File:main_robothespian.jpg|thumb|none|400px|link=|RoboThespian Hard Face]] |
| − | To control a particular axis directly you need to specify the | + | == Kinematics - Powered Axis Degrees of Freedom == |
| + | |||
| + | To control a particular axis directly you need to specify the output name in the command, note that some of the naming is inconsistent, and it is case sensitive, for backward compatibility reasons we don't recommend changing output names.<br> | ||
Commonly used axis names are shown in the first column for reference. | Commonly used axis names are shown in the first column for reference. | ||
Values are sent in Degrees x 10, the axis never cross zero and in general 1800 (180 degrees) represents the neutral pose.<br> | Values are sent in Degrees x 10, the axis never cross zero and in general 1800 (180 degrees) represents the neutral pose.<br> | ||
| − | Values sent outside the range will be clipped to Min / Max, it is not possible to drive an axis beyond these limits.<br> | + | Values sent outside the range will be clipped to the Min / Max, it is not possible to drive an axis beyond these limits.<br> |
Note that the axis are mirrored Left Right so sending the same values to left and right arm axis will give a symmetrical result.<br> | Note that the axis are mirrored Left Right so sending the same values to left and right arm axis will give a symmetrical result.<br> | ||
| − | + | The mouth servo, (on models with mechanical jaw), is a special case it is usually driven by values generated by the robot's automatic Lip Sync siftware.<br> | |
| − | The mouth servo, (on models with | ||
It can also be driven directly. | It can also be driven directly. | ||
Revision as of 14:51, 31 May 2016
This is a protected page.
Contents
Overview
This relates to RT3 series robots, but is broadly applicable to RT4 with standard head (not projected) and non-gripping arms
Kinematics - Powered Axis Degrees of Freedom
To control a particular axis directly you need to specify the output name in the command, note that some of the naming is inconsistent, and it is case sensitive, for backward compatibility reasons we don't recommend changing output names.
Commonly used axis names are shown in the first column for reference.
Values are sent in Degrees x 10, the axis never cross zero and in general 1800 (180 degrees) represents the neutral pose.
Values sent outside the range will be clipped to the Min / Max, it is not possible to drive an axis beyond these limits.
Note that the axis are mirrored Left Right so sending the same values to left and right arm axis will give a symmetrical result.
The mouth servo, (on models with mechanical jaw), is a special case it is usually driven by values generated by the robot's automatic Lip Sync siftware.
It can also be driven directly.
| Common Axis Name | IOServe Output Name | Neutral Position | Value Range | Angular Range | Actuator Type | Actuator Ref | Max Gear | Max Speed (°/sec) |
|---|---|---|---|---|---|---|---|---|
| Head Yaw | Head Turn | 1800 | 1350 - 2250 | 135 - 225 | DC Servo Motor | Maxon A-max 22 | GP22A (128:1) + Gear (2.25:1) => 288:1 | 104 |
| Head Pitch | Head Nod | 1800 | 1500 - 2100 | 150 - 210 | DC Servo Motor | Maxon A-max 22 | GP22A (690:1) => 690:1 | 44 |
| Head Roll | Head Roll | 1800 | 1600 - 2000 | 160 - 120 | DC Servo Motor | Maxon A-max 22 | GP22A (370:1) + Gear (4:1) => 1480:1 | 20 |
| Shoulder Pitch Left | L Arm Up | 1800 | 950 - 1900 | 95 - 190 | Air Muscle | Festo DMSP-20-200N | 440 | |
| Shoulder Roll Left | L Arm Out | 920 | 920 - 1450 | 92 - 145 | Air Muscle | Festo DMSP-20-200N | 265 | |
| Shoulder Yaw Left | L Arm Twist | 1800 | 1700 - 2200 | 170 - 220 | Air Muscle | Festo DMSP-20-115 | 286 | |
| Elbow Pitch Left | L Arm Elbow | 1800 | 1350 - 1900 | 135 - 190 | Air Muscle | Festo DMSP-20-170 | 294 | |
| Wrist Roll Left | L Fore Arm Rotate | 1800 | 900 - 2700 | 90 - 270 | DC Servo Motor | Maxon A-max 22 | GP22A (231:1) + Gear (1.55:1) => 358:1 | 84 |
| Wrist Pitch Left | L arm Wrist | 1800 | 1400 - 2200 | 140 - 220 | Air Muscle | Festo DMSP-10-120N | 370 | |
| Shoulder Pitch Right | R Arm Up | 1800 | 950 - 1900 | 95 - 190 | Air Muscle | Festo DMSP-20-200N | 440 | |
| Shoulder Roll Right | R Arm Out | 920 | 920 - 1450 | 92 - 145 | Air Muscle | Festo DMSP-20-200N | 265 | |
| Shoulder Yaw Right | R Arm Twist | 1800 | 1700 - 2200 | 170 - 220 | Air Muscle | Festo DMSP-20-115N | 286 | |
| Elbow Pitch Right | R Arm Elbow | 1800 | 1350 - 1900 | 135 - 190 | Air Muscle | Festo DMSP-20-170N | 294 | |
| Wrist Roll Right | R Fore Arm Rotate | 1800 | 900 - 2700 | 90 - 270 | DC Servo Motor | Maxon A-max 22 | GP22A (231:1) + Gear (1.55:1) => 358:1 | 84 |
| Wrist Pitch Right | R arm Wrist | 1800 | 1400 - 2200 | 140 - 220 | Air Muscle | Festo DMSP-10-120N | 370 | |
| Torso Pitch | Torso Bend Forward | 1800 | 1650 - 1950 | 165 - 195 | DC Servo Motor | Maxon Re-max 29 | GP32A (318:1) + Gear (4:1) => 1272:1 | 28 |
| Torso Yaw | Torso Turn | 1800 | 1600 - 2000 | 160 - 200 | DC Servo Motor | Maxon Re-max 29 | GP32A (318:1) + Gear (4:1) => 1272:1 | 28 |
| Torso Roll | Torso Sideways | 1800 | 1740 - 1860 | 174 - 186 | DC Servo Motor | Maxon Re-max 29 | GP32A (318:1) + Gear (4:1) => 1272:1 | 28 |
| Digit 5 Left | L Finger baby | NA | 0 - 1 | Open - Clenched | Pneumatic Cylinder | 720 | ||
| Digit 4 Left | L Finger ring | NA | 0 - 1 | Open - Clenched | Pneumatic Cylinder | 720 | ||
| Digit 3 Left | L Finger middle | NA | 0 - 1 | Open - Clenched | Pneumatic Cylinder | 720 | ||
| Digit 2 Left | L Finger index | NA | 0 - 1 | Open - Clenched | Pneumatic Cylinder | 720 | ||
| Digit 5 Right | R Finger baby | NA | 0 - 1 | Open - Clenched | Pneumatic Cylinder | 720 | ||
| Digit 4 Right | R Finger ring | NA | 0 - 1 | Open - Clenched | Pneumatic Cylinder | 720 | ||
| Digit 3 Right | R Finger middle | NA | 0 - 1 | Open - Clenched | Pneumatic Cylinder | 720 | ||
| Digit 2 Right | R Finger index | NA | 0 - 1 | Open - Clenched | Pneumatic Cylinder | 720 | ||
| Jaw | Mouth | 3400 | 0 - 4095 | 0 - 4095 | PWM Servo |
Neutral Position
Please note that forearms are actually straight forward at 90 degrees to front of torso. The perspective in the camera view distorts the images slightly
Axes Orientation
The following image shows the orientation of each axes, i.e. which direction increases the encoder reading.
Distances Between Joints
Distances between centres of rotational axes of joints, measured from RoboThespian's CAD design.
- Upper arm to elbow - 290mm
- Elbow to wrist - 256mm
Hand joint lengths (in mm):
| Thumb | 34 | 30 | - | 32 |
| Index Finger | 82 | 36 | 32 | 27 |
| Middle Finger | 82 | 48 | 36 | 27 |
| Ring Finger | 79 | 42 | 34 | 27 |
| Little Finger | 74 | 30 | 30 | 27 |
