RoboThespian part identification

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RoboThespian part identification

RoboThespian >> RoboThespian Troubleshooting >> RoboThespian part identification

Introduction

RoboThespian is made of thousands of parts, this page provides labelled diagrams for the most common components. Knowing what part is which will assist you in troubleshooting your RoboThespian.

Shells

The shells are shown in the diagrams below

Front

  • Figure 1 - RoboThespian body shells: Face and Mouth shell (1), Front Torso shell (2), Left and Right Arm shells (3), Pants shell (4)
  • The front shells consist of:

    • Face and Mouth shell
    • Front Torso shell
    • Left and Right Arm shells
    • Pants shell

    Rear

  • Figure 2 - RoboThespian body shells: Rear Torso shell (5)
  • The rear shells consist of:

    • Rear Torso shell

    Head

  • Figure 3 - RoboThespian head shells: Rear Head shell (6), Face and Mouth shell (7)
  • The head shells consist of:

    • Rear Head shell
    • Face and Mouth shell

    Removal of the head shells allow access to the head board

    Base

    The connections for communication and powering your robot are located at the base

  • Figure 4 - Base connections: 6 bar Air Line connection (1), Steel Base Plate (Older models may differ) (2), Wired Network connection (3), (Optional) XLR audio connections (4), RoboThespian PSU (Power Supply Unit) (5)
  • The base connections consist of:

    • Air Line connection (Must be a 6 bar air supply as per the minimum installation requirements
    • Steel Base Plate (Older models may differ in design)
    • Wired Network connection
    • XLR audio connections in/out (Optional, see the TinMan Telepresence page for more information)
    • RoboThespian Power Supply Unit, a local plug can be sourced for your region

    Components

    There are several components in RoboThespian which are commonly referred to

    Torso

    Front

  • Figure 5 - RoboThespian components (Torso front): Elbow Pitch Air Muscle (1), Microphone Array (2), Speaker (And Digital Amplifier if fitted) (3), Middle Valve Block (4), Torso Pitch Motor (5), Right Valve Block (6), Shoulder Pitch Air Muscle (7), Left Valve Block (8), Torso Yaw Motor (9)
  • The front torso components consist of:

    • Elbow Pitch Air Muscle (DMSP-20-170N-AM-CM), see Air Muscles for more information
    • Microphone Array consisting of 2 forward facing microphones
    • Speaker (And Digital Amplifier when fitted), the Digital Amplifier is located inside the cavity behind the speaker See RoboThespian Amplifier Replacement for more information
    • Middle Valve Block, RoboThespians actuators are primarily pneumatically powered, to control the pressurised air there are 3 valve blocks; the Middle Valve Block controls the left and right shoulder pitch and shoulder roll axes, see Valve Boards for more information
    • Torso Pitch Motor, the majority of axes are powered pneumatically however the head and torso pitch, roll and yaw axes are actuated with electric motors, see Motors for more information
    • Right Valve Board, the Right Valve Board controls the Elbow pitch, Wrist pitch and Shoulder roll axes for the right side of the robot
    • Shoulder Roll Air Muscle (DMSP-20-200N-RM-CM)
    • Left Valve Board, the Left Valve Board controls the Elbow pitch, Wrist pitch and Shoulder roll axes for the left side of the robot
    • Torso Yaw Motor

    Rear

  • Figure 6 - RoboThespian components (Torso rear): Shoulder Yaw Air Muscle (1), Shoulder Pitch Air Muscle (2), NUC Breakout Board (With Audio) (3), Power Breakout Board (4)
  • The rear torso components consist of:

    • Shoulder Yaw Air Muscle (DMSP-20-115N-AM-CM)
    • Shoulder Pitch Air Muscle (DMSP-20-200N-RM-CM)
    • NUC Breakout Board (With Audio), the NUC breakout is a usb hub for all of the devices to communicate with the NUC; the NUC Breakout Board connects to the Valve Driver Boards on each of the 3 valve blocks and the 2 motion boards. This version of the NUC breakout board has an XLR audio output for cleaner sound, the standard version of the NUC breakout Board does not have this feature. See Breakout Board for more information
    • Power Breakout Board, see Power Board for more information

    Forearm

  • Figure 7 - RoboThespian components (Forearm): Finger Solenoid Valves (1), Finger Pneumatic Cylinders (2), Wrist Pitch Air Muscle (3), Torso Roll Motor (4)
  • The forearm components consist of:

    • Finger Solenoid Valves, the fingers are pneumatically actuated by cylinders which are controlled by these solenoid valves, unlike the other axes the fingers are not proportionally controlled
    • Finger Pneumatic Cylinders, the fingers are actuated by these cylinders, there are 4 in total to actuate the pinky, ring, middle and index finger, the thumb is NOT actuated
    • Wrist Pitch Air Muscle (DMSP-10-120N-RM-CM)

    Other components seen in figure 7 consist of:

    • Torso Roll Motor