TURTLE Upper Body

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TURTLE: Base | Upper Body | Ball Handling and Kicking Mechanism


Part Summary

The upper body acts as the support structure for the Vision of the TURTLE. It is build using three plates in a pyramid construction, using horizontal frames to provide bending and torsional stiffness. These horizontal frames also provide assembly options for the Vision tube which gives a 360 degrees field of view and a possibility to assemble a front camera. The front camera is not used in the TURTLEs who won the 2012 World Cup.


Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly.

Figure 1: Front of the upper body assembly
Figure 2: Back of the upper body assembly


Upper Body Frame

Figure 3: The upper body frame assembled
Figure 4: The upper body frame exploded view

Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics.
The bottom plate (1) is a milled aluminum (AL51-ST) part and is connected to the three plates of the lower body using bolts. On three sided of this base plate, three bended plates (AL-51ST) are assembled with M5 x12 bolts (ISO 4762) and washers (DIN 125-1A A5 3). One of these is called the front leg (2) and two of them are the side legs (3).
To complete the upper body frame structure, a camera plate (4) from AL51-ST is bolted on the three plates (on which also the front camera can be fixated using a corner profile) together with an omnivision camera disk plate (5) from AL51-ST.
On the back, a panel (6) on which the switches are mounted and a plate (7) to mount the front camera on, both from Al51-ST aluminum, are bolted on the side legs (3).

Vision Tube with Omnivision Camera

Figure 5: The vision tube with omnivision camera
Figure 6: Exploded view of the vision tube with omnivision camera

Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view.
The (1) Prosilica GC750C camera (60 fps at 752x480) is fitted with a (2) Pentax/Cosmicar TS212A lens. The camera is then bolted (ISO 4762 M3 x 8) on a camera mounting disk (3) from AL-51ST, which is again bolted (ISO 4762 M3 x 8) on a camera holder tube (4). The vision tube (5) from plexiglass is fitted around this camera holder tube (4). Around this vision tube (5), again a bushing (6) is fitted in order to hold the vision tube on its place. Both the camera holder tube (4) and bushing (6) are bolted on to the camera disk plate (5 in Figures 3 and 4) using ISO 4762 M3 x 10 bolts.
The custom made mirror (7) that gives the 360⁰ view can be found on top of the vision tube (5), on which a nail (8) is placed to pinpoint the center of the mirror, and thus refer to the turtle's own position. An electronic compass (9) is placed on top of the mirror (7) in order to differentiate between the home side and the opponent side of the field. The (7) custom made mirror and (9) magnetic compass (Robot Electronics CMPS03) are bolted on to a flange disk (10) which is fitted in to the vision tube (5) with ISO 4762 M3 x 16 bolts. Finally, a round disk (11) from AL-51ST is bolted on to the flange disk (10) with ISO 4762 M3 x 8 bolts to prevent (artificial) light from above to fall into the camera.

The front camera and other electronics on the upper body

Figure 7: Partial exploded view of the upper body with front camera, computer and switches

A partial exploded view with all the components that are not yet discussed are visible in Figure 7.
The VC4458 front camera (1) with the VC4458 lens (2) can be attached to the corner profile (3) that is bolted to the camera plate ( (4) in Figures 3 and 4). The lens (2) is covered with a housing (4) from AL-51ST.
The PCB print of the camera together with the protection of the PCB (5) are also attached on top of the camera plate. NOTE: that the front camera is currently not used on the field players; only the keeper uses it!
The Industrial Beckhoff PC (6) is assembled on the PC housing (7) which is bolted on the bottom plate (1 in Figures 3 and 4).
Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure.



Prosilica GC750C
Interface: IEEE 802.3 1000baseT
Resolution: 752 x 480
Sensor: Micron/Aptina MT9V022
Sensor type: CMOS Progressive
Sensor size: Type 1/3
Cell size: 6 µm
Lens mount: CS
Max frame rate at full resolution: 60 fps
A/D: 10 bit
On-board FIFO: 16 MB
Power requirements (DC): 5-16 V
Power consumption (12 V): 2.2 W
Mass: 85 g
Body Dimensions (L x W x H in mm): 45x46x33

Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens
2.8 mm focal length; 1:1.2 CS (iris range)

Front camera (currently not used on the field players)

Model: VC-4458
Resolution: 640 x 480
Sensor: 1/3" CCD
Frame rate: 242 fps
Shutter: 5µs - 2.2s
Processor: TI 1 GHz
Computational Power 8000 MIPS
Digital I/Os 4 inputs, 4 outputs
Video output: RS232 and 100Mbit Ethernet
Dimensions: Approx. 110 x 80 x 35 mm,
Weight: approx. 500 g


Industrial Beckhoff PC C6920-0010

Intel® Core2™ Duo 2.0 GHz (TC3: 70)
3½-inch motherboard
1 Mini PCI slot free for cards installed ex factory
2 GB DDR2RAM, expandable ex factory to 3 GB
on-board graphic adapter, Intel® GMA950, DVI-I connector
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector
8 GB Flash drive
disk, 2½-inch, 40 GB
1 serial port RS232 and 4 USB 2.0 ports
24 V DC power supply
weight of 1.9 kg (4.2 lbs)


Copyright Eindhoven University of Technology 2012.

This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1.
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl).

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