Electronic component overview 12dof robot- weight 264g
- electronics for 12 degree of freedom robot
- provides current control for 12 brushless motors at 10kHz
- provides 1kHz control loop to external pc
- inertia measurement unit data at 1kHz
Micro driver stack front fully wired - weight: 94g
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Motor Phase Wires | 18 | 8cm | |
| Power Supply Wires | 3 | 25cm |
Micro driver stack back fully wired - weight: 90g
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Motor Phase Wires | 18 | 8cm | |
| Power Supply Wires | 3 | 15cm | |
| Master Board Supply Wire | 1 | 12cm |
Master board with spi wires and mounting plate - weight: 50g
SPI wires
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| SPI wires micro driver stack front | 3 | 30cm | 0-AA / 1-FL / 2-FR |
| SPI wires micro driver stack back | 3 | 14cm | 3-AA / 4-HL / 5-HR |
IMU with wire and mounting plate - weight: 30g
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| IMU wire | 1 | 35cm | IMU Wiring Documentation |
Hip AA Actuator Modules - weight: 149g each
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Front Right Hip AA Motor Phases | 3 | 21cm | FRHAA |
| Front Right Hip AA Encoder Wire | 1 | 26cm | FRHAA |
| Front Left Hip AA Motor Phases | 3 | 23cm | FLHAA |
| Front Left Left AA Encoder Wire | 1 | 27cm | FLHAA |
| Hind Right Hip AA Motor Phases | 3 | 22cm | HRHAA |
| Hind Right Hip AA Encoder Wire | 1 | 29cm | HRHAA |
| Hind Left Hip AA Motor Phases | 3 | 20cm | HLHAA |
| Hind Left Hip AA Encoder Wire | 1 | 25cm | HLHAA |
Hip FE Actuator Modules - weight: 157g each
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Front Right Hip FE Motor Phases | 3 | 35cm | FRHFE |
| Front Right Hip FE Encoder Wire | 1 | 41cm | FRHFE |
| Front Left Hip FE Motor Phases | 3 | 27cm | FLHFE |
| Front Left Left FE Encoder Wire | 1 | 33cm | FLHFE |
| Hind Right Hip FE Motor Phases | 3 | 26cm | HRHFE |
| Hind Right Hip FE Encoder Wire | 1 | 31cm | HRHFE |
| Hind Left Hip FE Motor Phases | 3 | 34cm | HLHFE |
| Hind Left Hip FE Encoder Wire | 1 | 40cm | HLHFE |
Upper Leg Actuator Modules - weight: 152g each
| Description | Quantity | Wire Length | Comments |
|---|---|---|---|
| Front Right Knee Motor Phases | 3 | 17cm | FRK |
| Front Right Knee Encoder Wire | 1 | 20cm | FRK |
| Front Left Knee Motor Phases | 3 | 17cm | FLK |
| Front Left Knee Encoder Wire | 1 | 20cm | FLK |
| Hind Right Knee Motor Phases | 3 | 17cm | HRK |
| Hind Right Knee Encoder Wire | 1 | 20cm | HRK |
| Hind Left Knee Motor Phases | 3 | 17cm | HLK |
| Hind Left Knee Encoder Wire | 1 | 20cm | HLK |
Bottom view - all the actuator module wires are routet on the bottom of the robot. Details below.
Top view - the power, imu and spi wires are routed on the top of the robot. Details below
Each line represents 3 motor phase wires and the 5 pole encoder wire.
Keep the wires away from the motor rotors (red boxes in the picture above).
Each line represents 3 motor phase wires and the 5 pole encoder wire.
Keep the wires away from the motor rotors (red boxes in the picture above).
Each line represents 3 motor phase wires and the 5 pole encoder wire.
Keep the wires away from the motor rotors (red boxes in the picture above).
The lines represent 3 spi wires, 3 power wires and the imu wire.
Keep the wires away from the motor rotors (red boxes in the picture above).
Quadruped Robot Top View
Quadruped Robot Bottom View
External wire for power supply and ethernet communication.
External wire robot side.
External wire pc and power supply side.
Quadruped robot 12dof standing - Click on picture to view the cad model in your browser
Quadruped robot 12dof folded - Click on picture to view the cad model in your browser
Felix Grimminger
BSD 3-Clause License
Copyright (c) 2019-2020, Max Planck Gesellschaft and New York University
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