RoboThespian Technical Spec
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RoboThespian >> RoboThespian At a Glance >> Technical Spec
Introduction
This page is aimed at potential customers and distributors who want an overview of RoboThespian's Technical Specifications
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 | 37 kg | 81 lbs |
Robot Height | 1780 mm | 5' 10” |
Robot Width (floor base width) | 600 mm | 23.5” |
Robot Width (arms fully extended) | 1750 mm | 5' 9” |
Wooden Touch Screen Kiosk Dimensions | Metric | Imperial |
---|---|---|
Weight | 30 kg | 66 lbs |
Height | 1006 mm | 40” |
Width | 472 mm | 18.5” |
Depth | 420 mm | 16.5” |
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 |
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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: http://ioserve.org/wiki/index.php/Robothespian_kinematics - UPDATE |
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 single board computer (SBC) |
Asus Xtion Infra Red Depth Sensor |
RGB webcam in head |