Commit 96bc850b authored by Gill Lumer-Klabbers's avatar Gill Lumer-Klabbers Committed by node
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Update on Overleaf.

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# Desktop Robotti Harware changes
Changes made to the Desktop Robotti V.2 due to incompatible components.
- Steering motors changed due to not producing enough torque to turn front wheels
- New steering motors was incompatible with old shaft couplers, therefore new ones added
- MCU changed due to being pin incompatible with the Motor Driver Shield
- Motor Shield changed due to not being rated for high enough current for the new motors (OBS: Søren bought the wrong motors on accident, these are actually rated for high enough current)
- New MCU uses usb mini instead of USB B (Not needed explicitly, one could route uart directly instead)
- Wiring scheme changed, wires used from labs at AU
Number of new parts
| Old Equipment | New Equipment | available / needed | New Stuff Buy Link: |
- Arduino UNO Wifi - STM32F446RE Nucleo - 3 / 2
`https://www.conradelektronik.dk/p/stmicroelectronics-udviklingsboard-nucleo-f446re-stm32-f4-series-1416934`
- HS-422 Servo Motor - Sävox SC1256TG - 2 / 4
`https://www.conradelektronik.dk/p/savoex-standard-servo-sc-1256tg-digital-servo-453588`
- Servo Shaft Coupler - Servo shaft coupler Futaba standard to 1/4″ - 2 / 4
`https://www.electrokit.com/en/product/servo-shaft-coupler-futaba-standard-to-1-4/`
- Arduino Motor Shield V.3 - Pololu Dual VNH5019 - 2 / 2
`https://www.tme.eu/gb/details/pololu-2507/motor-control-modules/pololu/`
- USB-A to angled USB-B cable - USB-A to angled USB-Mini cable <TBD>
- Wires (multiple sizes) - Wires (multiple sizes)
Elektronik Værkstedet @ Katrinebjerg
Desktop Robotti V.2 did not come equipped with sensors, besides wheel encoders:
- Environment sensing to be performed by a Lidar (same model as on DRobotti V.1)
- Robot orientation measured by IMU (same model as DRobotti V.1)
- Robot position measured using an off-the-shelf indoor positioning system by Marvelmind
Number of parts
Sensors:
available / needed
Buy Link:
- RPLIDAR A1
1 / 2
`https://let-elektronik.dk/shop/1450-lys--kamera/601125-rplidar-a1m8-r6---360-degree-laser-scanner-development-kit/`
- Bosch BNO055 Adafruit Brakeoutboard
3 / 2
`https://www.elfadistrelec.dk/da/dof-absolute-orientation-imu-fusion-breakout-3v-adafruit-2472/p/30091187`
- Marvelmind Indoor Positioning Starter Set-MP-3D
1 / 1
`https://marvelmind.com/product/starter-set-super-mp-3d/`
### Changes made to the Desktop Robotti V.2 due to incompatible components.
- Steering motors changed due to not producing enough torque to turn front wheels
- New steering motors was incompatible with old shaft couplers, therefore new ones added
- MCU changed due to being pin incompatible with the Motor Driver Shield
- Motor Shield changed due to not being rated for high enough current for the new motors (OBS: Søren bought the wrong motors on accident, these are actually rated for high enough current)
- New MCU uses usb mini instead of USB B (Not needed explicitly, one could route uart directly instead)
- Wiring scheme changed, wires used from labs at AU
Number of new parts
Old Equipment: New Equipment: available / needed New Stuff Buy Link:
- Arduino UNO Wifi - STM32F446RE Nucleo 3 / 2 https://www.conradelektronik.dk/p/stmicroelectronics-udviklingsboard-nucleo-f446re-stm32-f4-series-1416934
- HS-422 Servo Motor - Sävox SC1256TG 2 / 4 https://www.conradelektronik.dk/p/savoex-standard-servo-sc-1256tg-digital-servo-453588
- Servo Shaft Coupler - Servo shaft coupler Futaba standard to 1/4″ 2 / 4 https://www.electrokit.com/en/product/servo-shaft-coupler-futaba-standard-to-1-4/
- Arduino Motor Shield V.3 - Pololu Dual VNH5019 2 / 2 https://www.tme.eu/gb/details/pololu-2507/motor-control-modules/pololu/
- USB-A to angled USB-B cable - USB-A to angled USB-Mini cable <TBD>
- Wires (multiple sizes) - Wires (multiple sizes) Elektronik Værkstedet @ Katrinebjerg
Desktop Robotti V.2 did not come equipped with sensors, besides wheel encoders:
- Environment sensing to be performed by a Lidar (same model as on DRobotti V.1)
- Robot orientation measured by IMU (same model as DRobotti V.1)
- Robot position measured using an off-the-shelf indoor positioning system by Marvelmind
Number of parts
Sensors: available / needed Buy Link:
- RPLIDAR A1 1 / 2 https://let-elektronik.dk/shop/1450-lys--kamera/601125-rplidar-a1m8-r6---360-degree-laser-scanner-development-kit/
- Bosch BNO055 Adafruit Brakeoutboard 3 / 2 https://www.elfadistrelec.dk/da/dof-absolute-orientation-imu-fusion-breakout-3v-adafruit-2472/p/30091187
- Marvelmind Indoor Positioning Starter Set-MP-3D 1 / 1 https://marvelmind.com/product/starter-set-super-mp-3d/
......@@ -32,3 +32,12 @@
## Notes
- DTU Robotti
- Replicate our setup? follow up w mail
- Meeting with Kenneth and frederik new year
- ROS paper draft for new year (levi)
- Tutorial for fault injection
- `https://github.com/INTO-CPS-Association/fm_dt_tutorial_2021/blob/main/demos/execute_algorithm_faultinjection/test.py`
\ No newline at end of file
......@@ -49,4 +49,5 @@
% \markdownInput{meetings/2021_w46/work_coordination.md}
% \markdownInput{meetings/2021_w48/work_coordination.md}
\markdownInput{meetings/2021_w50/work_coordination.md}
\markdownInput{DRobottiParts/BOM_NewStuffDRobottiV2.md}
\end{document}
\ No newline at end of file
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