ee detailed design review

EE Detailed Design Review

Kyle BackerMike ThomasMatt DeCapua

Design Review Goals

Review Customer Needs & Specifications

Calculate Power Requirements

Describe In Detail the Power Distribution Throughout the Robot

Determine External Sensors & Placement on Robot

Update Risks & Concerns

Proposed Bill of Materials

Customer Needs

Customer Need # Importance Description Comments/Status

CN1 1 Walk Servo Control Algorithm

CN2 1 Turn Servo Control Algorithm

CN3 1 Object Avoidance Sense object In all directions

CN4 2 Get up-Forwad fall Sensor reading and control algorithm

CN5 2 Get up-backward fall Sensor reading and control algorithm

CN6 3 Resist fall IMU Reading

CN7 2 Voice Activated Speech Recognition Module

CN8 2 Non-Tethered Battery Powered

CN9 1 Height Must be at least 2 ft tall, preferably larger

CN10 1 Additional Weight Accommodate 25% of total body weight

CN11 1 Humanoid Proportions/Limbs Must look and move like a human

CN12 2 Head Functions Head needs to potentially move and/or support sensors

CN13 3 Off Shelf Part Sources Need readily available parts

CN14 1 Adequate Computational Power Dedicated Robotic Computer

Customer Specifications

Spec. # Importance Source Function Specification (metric) Unit of Measure Marginal Value Ideal Value Comments/Status

S1 3 CN9 F1-F4,F7 20"-36" tall inch 28 36

S2 1 CN10 F1-F7 Carry 25% of own weight lbs 5 >5lbs Weight about 14lbs

S3 2 CN11 F5,F6 DOF per arm x 4 5 Ignore wrist movement

S4 3 CN11 F1, F2, F3 DOF per leg x 4 6 6 DOF likely

S5 2 CN11 F4, F1 DOF Torso x 1 2

S6 3 CN12 F13 Head turn up/down -45 degress to 90 degrees degrees

S7 3 CN12 F13 Head turn 90 degrees left/right degrees 90 90

S8 2 CN11 F1 torso bends 90 degrees down degrees 90 >90

S9 2 CN11 F4 Torso turns 45% degrees 45 90

S10 2 CN11 F1-F7 Human proportionality x x x

S11 1 CN13 F1-F3, F5 Servos from the market x

S12 1 CN14 F12 Servo driver from the market w/ extra ports x

S13 1 CN14 F12 Micro controller/small computer w/ OS x Roboard 110

S14 1 CN14 F12 Software Libraries x

S15 1 CN1 F1-F3 Walking x Natural

S16 1 CN2 F1-F3 Turning x Halting Natural

S17 2 CN4 All Recovery from forward fall x

S18 2 CN5 All Recovery from backwards fall x Roll onto front possibly

S19 2 CN6 F9 Resistance to fall x

S20 1 CN3 F8 Avoid object within 25" inches 24” >24”

S21 1 CN3 F8 Turn accordingly to avoid obstacle x

S22 2 CN4/CN5 F9 sensors to detect fall x

S23 1 CN6 F9 sensors to detect forces and resist fall x

S24 1 CN3 F8 detect object in back x

S25 1 CN3 F8 detect object in front x

S26 1 CN3 F8 detect object in right/left x

S27 1 CN11 F1 45 degrees forward bend at waist level degrees 45 45

S28 2 CN7 F11 16 word voice commands x 16 >16

Power CalculationPart Name Function Required

VoltageQuiescent

CurrentActive

CurrentPower / Per

Number TotalPower

EasyVR Speech Module

voice commands

5V 1mA 180mA .9W 1 0.9

RoBoard RB-110

maincomputer/processor

6-24V 400ma 2W 1 2

LV-MaxSonar-EZ0

ultrasonic rangefinder

2.5-5.5 2mA .01W 2 0.02

GP2Y0A02YK0

IR rangefinder 4.5-5.5 33mA 0.165 4 0.66

IMU Combo Board

Internal Gyro/Accelerom

eter

3.3V 45uA 6.75mA 0.022 1 0.022

RoBoard RS-1270

Servo 7.4 5mA 1.5~5A 11.1~37W

22 ~66

70W

General Power Diagram

7.4V 5000mAhLi-Poly Batteries

Benchtop Power Suppy

AutomaticSource

Selection

To Sensors

MServoPowerSwitch

22x Servo’s

RoBoardComputer

SystemFuse

2-4S Li-PolyLow Voltage Alarm

Power Distribution Circuit

Battery Selection

In total Servos Can pull >40A

Robot needs to last 1-2 hours

2x 7.4V 5000mAh Li-Poly Proposed

Waiting for test results from Team 1

Selected Servos

RoBoard RS-1270 digital servo motor (x22) Torque @7.4V: 35.0 kg-cm/486.0 oz-in Voltage: 6 to 7.4V Weight: 70g Suggested voltage: 7.4V Current draw max: 5A Total average current: 6.6A Expected walking current: 18A

Selected Connectors

Battery and Wall Power >40A Servo Power max 5A

Proposed PCB

Sensor Placement

4 infrared sensors sensors for short range detection(Front, back, left, right)

2 ultrasonic sensors for long range(Front-left,front-right)

1 accelerometer/gyro board(Internal:chest)

1 voice recognition module(Internal:chest)

Wiring Diagram

Updated Risks

ID Risk Item Effect CauseLikelih

oodSeveri

tyImport

anceAction to Minimize Risk Owner

Describe the risk brieflyWhat is the effect on any or all of

the project deliverables if the cause actually happens?

What are the possible cause(s) of this risk? L*S

What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the risk

of this occurring?

Who is responsible for following through on mitigation?

1 Overheating System damage, reduced performance

Continuous servo and battery use, limited ventilation 2 2 R Construct an open body, allowing ventilation,

include cooling fans and heat sinks EE

3 Over budget Not finishingSpending too much, expensive

servos2 3 P

Sparkfun free day, conservative spending, find least expensive components

All

5 Insufficient battery voltageLower servo torque, limited

effectiveness of processor/sensorsnot fully charged/Balanced 1 2 P

Use Balancing charger and Low voltage alarm during operation

EE

6 Insufficient battery capacity Short operation timeBattery too small, large current

draw1 1 R

Choose batteries carefully, choose low power components

EE

7 Insufficient sensor range Unable to avoid obstacles properly Sensor range too short 1 1 A use combination of infrared and ultrasonic EE

14Large Current Draw through

Wires/ConnectorsWires/Connectors

Burn/MeltExcess of current 2 3 P

Cautious selection of wiring gaugesAnd Molex Connectors

EE

15 Signal corruption Incorrect Servo Position Noise affecting PWM signals 2 3 P Adequate grounding and shielding EE

16Power Distribution PCB

Overheats or ShortsLoss of Power, Servo Damage Too small traces 2 3 P Make traces as wide as possible EE

17 All Servos Lock UpMax current draw, Damage to

power componets

Awkward movement, programming errors, sensor

errors2 3 P Use a 60A fuse EE

P12202 Humanoid PlatformBill of Materials

Part Name Manufacturer Manufacturer Part # Distributor Distributor Part # Web Location Quantity Needed Unit Price Total Price Status Comments

Electrical

5000mAh 7.4VLi-Poly Battery

Spec PointConcepts

N/ASpec PointConcepts

N/A http://www.specpointbatteries.com/index.php?productID=59 2 $28.95 $57.90In

stockBatteries

2S~4S Li-PolyLow Voltage Alarm

N/A N/A All Battery N/A http://www.all-battery.com/VoltCheckerandLowVoltBuzzerfor1-7SLipo_Li-ion_NiMH_LiFe-52025.aspx

2 $4.99 $9.98In

stockBattery

Protection

Traxxas MaleConnector

N/A N/A All Battery 80027 http://www.all-battery.com/traxxastrxmaleconnector-chargertruckside.aspx

2 $3.99 $7.98In

stock

FemaleConnectorfor Battery

Molex PCB Power Connector (Mini-fit Sr)

Molex 428192232 Digi-Key WM4431-ND http://search.digikey.com/us/en/products/0428192232/WM4431-ND/2421502

3 $2.99 $8.97In

stock

PCB connecterfor external supply

and batteries

Molex Vertical PowerConnector (mini-fit sr)

Molex 42816-0212 Digi-Key WM1927-ND http://search.digikey.com/us/en/products/42816-0212/WM1927-ND/283471

3 $1.48 $4.44In

stockmates with

PCB recepticle

Mini-Fit Sr MaleCrimp Connection

Molex 428170131 Digi-Key WM3194CT-ND http://search.digikey.com/us/en/products/0428170131/WM3194CT-ND/2405670

6 $0.84 $5.04In

stock

crimpableconnectorcontacts

Mini-Fit Sr FemaleCrimp Connection

Molex 42815-0032-C Digi-Key WM1949-ND http://search.digikey.com/us/en/products/42815-0032-C/WM1949-ND/513214

6 $1.05 $6.30In

stock

crimpableconnectorcontacts

Mini-Fit Jr PCBHeader

Molex 39-28-8020 Digi-Key WM23800-ND http://search.digikey.com/us/en/products/39-28-8020/WM23800-ND/930296

24 $0.96 $23.04In

stockPCB connecter

for servos

Mini-Fit Jr MaleConnector

Molex 39-01-2020 Digi-Key WM3700-ND http://search.digikey.com/us/en/products/39-01-2020/WM3700-ND/61315 24 $0.63 $15.12In

stockmates with

pcb connector

Mini-Fit Jr FemaleCrimp Connection

Molex 39-00-0207 Digi-Key WM3116CT-ND http://search.digikey.com/us/en/products/39-00-0207/WM3116CT-ND/1643463

48 $0.36 $17.28In

stockmini-fit contacts

Molex KK PCB Header


stockroboard power

connector

Molex KK Female Connector


stockmates with

KK pcb header

Roboard RB-100 Roboard RB-100TrossenRobotics

KIT-C-900-Roboard-Kit-110

http://www.trossenrobotics.com/p/roboard-rb-110-starter-kit.aspx 1 $309.99 $309.99In

stockcentral

Processing

Infrared Proximity Sensor Short Range Sharp GP2D120XJ00F Sparkfun SEN-08959 http://www.sparkfun.com/products/8959 4 $13.95 $55.80In

stockObstacle Avoidance

Ultrasonic Range Finder Maxbotix Maxbotix LV-EZ0 Sparkfun SEN-08502 http://www.sparkfun.com/products/8502 1 $27.95 $27.95In

stockOrdered 1 with free Sparkfun

money

6 Degrees of Freedom IMU ITG3200/ADXL345

IMU N/A Sparkfun SEN-10121 http://www.sparkfun.com/products/10121 1 $0.00 $0.00In

stockCombo Board, Ordered with

free Sparkfun money

EasyVR Shield - Voice Recognition Shield

VR N/A Robot Shop RB-Tig-01 http://www.robotshop.com/vrbot-voice-recognition-module-for-robonova-

and-other-robots.html?utm_source=google&utm_medium=base&utm_campaign=jos

1 $50.00 $50.00In

stockSpeech Recognition

Module

Totals $600.85

ee detailed design review

Documents

frontxs261cn3f8detect

backxs251cn3f8detect

fallxs241cn3f8detect

fallxs201cn3f8avoid

control algorithmcn52get

power requirements

wgeneral power diagram7

mah lipoly proposedwaiting