Firmware Hardware Architecture (F2022)

Owned by Austin Tailon Huang
Last updated: Nov 12, 2022 by Wolfgang Windholtz (Deactivated)
2 min read

Drivetrain

  • The drivetrain uses the same motors and encoders on all 6 wheels.

Motor

Gearbox

Encoder

Motor

Gearbox

Encoder

DB59L048035-A

Versaplanetary Gearbox (35:1)

  • 7:1 stage followed by 5:1 stage

  • 35:1 total reduction

RMS22 Relative Encoder

Notable Details

  • 48V nominal voltage for motor operation

  • Communication protocol for selected encoder is RS422. However, RS422 is not a communication protocol support by odrives. RS422 breakout board is used to convert RS422 signals to single ended 3v3

    • Additional complexity risk

  • 3 Odrives used to control all 6 motors

  • All motors have hall sensors

  • All encoders placed PREREDUCTION (directly on motor shaft)

Arm

Axis

Motor

Gearbox

Encoder

Axis

Motor

Gearbox

Encoder

1

Maxon #642221

Worm gear and drive (Custom Solution)

  • 60:1 ratio

RLS Orbis Encoder

2

Maxon #642221

Strainwave Gearbox

  • 120:1 ratio

Broadcom AEAT-6012

3

Nanotech #DB59L024035R-A

Planetary Gearbox

  • Gearbox + belt

  • Total reduction of 193.91556:1 (can round)

Broadcom AEAT-6012

4

Maxon #651614

Planetary Gearbox

  • 156:1 total ratio

RLS Orbis Encoder

5/6

Maxon #651614

Planetary Gearbox

  • 156:1 total ratio

Broadcom AEAT-6012

End Effector

Maxon #651614

Spur Geartrain

  • 120:28 total ratio

AMT203 Encoder

Notable Details

  • 24V nominal voltage for all motor operation on arm (axis 1-6 + end effector)

  • All arm encoders placed POST REDUCTION (axis 1-6 and end efffector)

  • 4 Odrives used to control all 6 arm motors + end effector motor

  • All motors have hall sensors

Science

Gripper

Gimbal

 

Spark Max Encoder Inputs

https://andymark-weblinc.netdna-ssl.com/media/W1siZiIsIjIwMjAvMDUvMTkvMTQvMDYvNDMvNDUyNGFkOTMtZjYwZi00ODgyLWFlNzQtNjAxMzU5MzQyMjBiL2FtLTQyNjEgU1BBUksgTUFYIC0gVXNlciBNYW51YWwuaHRtbCJdXQ/am-4261%20SPARK%20MAX%20-%20User%20Manual.html?sha=7c9ea7a1ed73eb42#section-3-1

 

 

RMS22

RLS

AEAT-6012

 

AMT203

ODrives support RLS, AEAT, and sensorless.

Getting Started — ODrive Documentation 0.6.10 documentation

 

 

Motor controller alternatives

 

Nanotec motor controller. use CANopen standard

https://en.nanotec.com/products/cpb-plug-in-motor-controllers

https://www.amazon.ca/3-Phase-Controller-Performance-Brushless-Spindle/dp/B08TLR9X12