Difference between revisions of "RoboThespian Technical Spec"

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[[Category:RoboThespian]]
 
[[Category:RoboThespian]]
 
[[Category:At a glance]]__NOTOC__
 
[[Category:At a glance]]__NOTOC__
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[{{fullurl:{{PAGENAME}}|action=pdfbook&format=single}} Download this page as printable .pdf]
 
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[[RoboThespian]] >> [[RoboThespian At a Glance]] >> Technical Spec
 
[[RoboThespian]] >> [[RoboThespian At a Glance]] >> Technical Spec
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=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"
 
|-
 
|-
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| Robot Weight || 33 kg ||  72 lbs
 
| Robot Weight || 33 kg ||  72 lbs
 
|-
 
|-
−
| Robot Height || 1750 mm ||  5' 9”
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| Robot Height || 1750 mm ||  5' 9"
 
|-
 
|-
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| Robot Width (shoulder to shoulder) || 410 mm || 16”
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| Robot Width (shoulder to shoulder) || 410 mm || 16"
 
|-  
 
|-  
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| Robot Width (arms fully extended) || 1750 mm ||  5' 9”
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| Robot Width (arms fully to side) || 1750 mm ||  5' 9"
 +
|-
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| Robot Reach (back to fingertips - arms fully forwards) || 840 mm || 2' 9"
 
|}
 
|}
  
 
{| class="wikitable"
 
{| class="wikitable"
 
|-
 
|-
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! Robot Dimensions (Including floor base) !! Metric !! Imperial
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! Robot Dimensions (Including floor base) !! Metric !! Imperial
 
|-
 
|-
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| Robot Weight || 37 kg ||  81 lbs
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| Robot Weight || 44 kg ||  97 lbs
 
|-
 
|-
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| Robot Height || 1780 mm ||  5' 10”
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| Robot Height || 1775 mm ||  5' 10"
 
|-
 
|-
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| Robot Width (floor base width) || 600 mm || 23.5”
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| Floor Base Width || 480 mm || 23.5"
 
|-  
 
|-  
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| Robot Width (arms fully extended) || 1750 mm ||  5' 9”
+
| 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"
 
|-
 
|-
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! Wooden Touch Screen Kiosk Dimensions !! Metric !! Imperial
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! Metal Touch Screen Kiosk Dimensions !! Metric !! Imperial
 
|-
 
|-
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| Weight || 30 kg ||  66 lbs
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| Weight || 22 kg ||  49 lbs
 
|-
 
|-
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| Height || 1006 mm ||  40”
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| Height || 1020 mm ||  3' 4"
 
|-
 
|-
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| Width || 472 mm || 18.5”
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| Width || 430 mm || 16.3"
 
|-  
 
|-  
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| Depth || 420 mm ||  16.5”
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| Depth || 400 mm ||  15.7"
 
|}
 
|}
  
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! Floor Base Dimensions !! Metric !! Imperial
 
! Floor Base Dimensions !! Metric !! Imperial
 
|-
 
|-
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| Base Width || 600 mm ||  23.5”
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| Base Diameter || 480 mm ||  19"
 
|-
 
|-
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| Base Length || 650 mm ||  25.5”
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| Base Depth || 30 mm || 1.25"
−
|-
 
−
| Base Depth || 30 mm || 1.25”
 
 
|-  
 
|-  
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| Base Weight || 4 kg ||  9 lbs
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| Base Weight || 11.5 kg ||  25 lbs
 
|}
 
|}
  
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| 1 x High speed servo motor for jaw actuation
 
| 1 x High speed servo motor for jaw actuation
 
|-
 
|-
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| Angular range details here: http://ioserve.org/wiki/index.php/Robothespian_kinematics - '''UPDATE'''
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| Angular range details here for developers: [[RoboThespian Kinematics]]
 
|-
 
|-
 
| Passive lower limb design will maintain centre of mass over support as legs fold
 
| Passive lower limb design will maintain centre of mass over support as legs fold
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| Interactive touchscreen kiosk with 19” touchscreen panel.
 
| Interactive touchscreen kiosk with 19” touchscreen panel.
 
|-
 
|-
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| Onboard single board computer (SBC)
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| Onboard mini-PC (NUC)
 +
|-
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| RGB webcam in head
 +
|}
 +
 
 +
==Power usage==
 +
Note RoboThespian connects to a standard domestic mains outlet in the range 100v - 250v AC
 +
 
 +
{| class="wikitable"
 +
|-
 +
! 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
 
|-  
 
|-  
−
| Asus Xtion Infra Red Depth Sensor
+
| 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
 
|-
 
|-
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| RGB webcam in head
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| 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

RoboThespian with base and kiosk dimensions
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

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