RoboThespian Technical Spec
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RoboThespian >> RoboThespian At a Glance >> Technical Spec Download this page as printable .pdf
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 |