RoboThespian Kinematics

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RoboThespian >> RoboThespian Kinematics

Overview

This page gives the degrees of freedom and angular range of movement of RoboThespian

RoboThespian RT3 & RT4 series robots

This relates to RT3 series robots, but is broadly applicable to RT4 with standard head (not projected) and non-gripping arms. For RT4 with Gripping Hands and InyaFace see below

RoboThespian Hard Face

Kinematics - Powered Axis Degrees of Freedom

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 900 950 - 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 900 950 - 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

Note:

  1. To directly control a particular axis directly you need to specify the output name in the command.
    1. Some of the naming is inconsistent, and it is case sensitive, for backward compatibility reasons we don't recommend changing output names.
    2. Commonly used axis names are shown in the first column for reference.
  2. Values are sent in Degrees x 10
    1. The axis never cross zero
    2. In general 1800 (180 degrees) represents the neutral pose.
  3. Values sent outside the range will be clipped to the Min / Max - it is not possible to drive an axis beyond these limits.
  4. The axis are mirrored Left-Right so sending the same values to left and right arm axis will give a symmetrical result.
  5. 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 software. It can also be driven directly.

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

RoboThespian-Commission-Position-1.png RoboThespian-Commission-Position-2.png RoboThespian-Commission-Position-3.png

Axes Orientation

The following image shows the orientation of each axes, i.e. which direction increases the encoder reading.

Robot Axes.jpg

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

RoboThespian RT4 series with Gripping Hands and InyaFace

RoboThespian Gripping Hands

Kinematics (Collada file format) of the RT4, which is used in virtual robot.

The model is not 100% accurate, but good enough for visualization

File:RT4 kinematics.dae.zip