Firmware Hardware Architecture (F2022)
- Austin Tailon Huang
- Wolfgang Windholtz (Deactivated)
- Ari Wasch
Drivetrain
The drivetrain uses the same motors and encoders on all 6 wheels.
Motor | Gearbox | Encoder |
|---|---|---|
DB59L048035-A | Versaplanetary Gearbox (35:1)
| 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 |
|---|---|---|---|
1 | Maxon #642221 | Worm gear and drive (Custom Solution)
| RLS Orbis Encoder
|
2 | Maxon #642221 | Strainwave Gearbox
| Broadcom AEAT-6012 |
3 | Nanotech #DB59L024035R-A | Planetary Gearbox
| Broadcom AEAT-6012
|
4 | Maxon #651614 | Planetary Gearbox
| RLS Orbis Encoder
|
5/6 | Maxon #651614 | Planetary Gearbox
| Broadcom AEAT-6012
|
End Effector | Maxon #651614 | Spur Geartrain
| 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
RMS22
RLS
AEAT-6012
AMT203
ODrives support RLS, AEAT, and sensorless.
https://docs.odriverobotics.com/v/latest/getting-started.html#encoder-configuration
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