TURTLE

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| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]
 
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]
 
|-
 
|-
| style="background:white; color:black;" align="left" | [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e]
+
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e]
 
|-
 
|-
 
| style="background:white; color:black;" align="left" | rop@tue.nl
 
| style="background:white; color:black;" align="left" | rop@tue.nl
 +
|-
 +
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials'''
 +
|-
 +
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet]
 
|-
 
|-
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''
 
|-
 
|-
| style="background:white; color:black;" align="left" | ''(Coming Soon)''
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| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013]
 +
|-
 +
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP]
 +
|-
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| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5]
 
|-
 
|-
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''
 
|-
 
|-
| style="background:white; color:black;" align="left" | ''(Coming Soon)''
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| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF]
 +
|-
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| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''
 +
|-
 +
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]
 
|-
 
|-
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''
 
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''
 
|-
 
|-
| style="background:white; color:black;" align="left" | [https://rop.wtb.tue.nl/svn/rop/AMIGO/License/ License Files]
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| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]
 
|-
 
|-
 
|}
 
|}
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]]
+
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]]
  
  
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= EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE =
 
  
 
= Robot Summary =  
 
= Robot Summary =  
 
TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology].
 
TURTLEs are the football robots that compete in the [http://www.robocup.org/robocup-soccer/middle-size/ RoboCup Mid-Size League] for [http://www.tue.nl/en Eindhoven University of Technology].
  
* Author: [http://w3.wtb.tue.nl/en/research/research_groups/control_systems_technology/ CST Group, TU/e]
+
* Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e]
 
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]
 
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]
* Repository: ''(Coming Soon)''
+
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]
* Software: '' [[www.ros.org|www.ros.org]] (Coming Soon)''
+
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]
  
  
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[[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]]
 
[[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]]
 +
 +
 +
= 3D Viewer =
 +
<center>{{#widget:Iframe
 +
|url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed
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|width=640
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|height=480
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|border=0
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}}</center>
  
  
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TURTLE is an acronym for Tech United Robocup Team: Limited Edition.  
 
TURTLE is an acronym for Tech United Robocup Team: Limited Edition.  
  
The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections. <br>
+
The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the [[TURTLE Goalkeeper|keeper]] has a different design. However, the TURTLE field players can be used as a [[TURTLE Goalkeeper|keeper]] with minor attachments. The field players will be discussed in the following sections. <br>
 
In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately:
 
In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately:
  
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• Dimensions (HxWxD): 782.5 x 485 x 520 mm <br>  
 
• Dimensions (HxWxD): 782.5 x 485 x 520 mm <br>  
• Weight: +/- 37 kg
+
• Weight: +/- 30 kg
  
 
== Electrical ==  
 
== Electrical ==  
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• Weight: 1,473 kg (one battery) <br>  
 
• Weight: 1,473 kg (one battery) <br>  
 
• Capacity: 3.3 Ah <br>  
 
• Capacity: 3.3 Ah <br>  
• Voltage: 24 V <br>
+
• Voltage: 24 V <br>  
• Autonomy: 15 min (active use); 30 min (normal use) <br>  
+
  
 
== Motor Specifications ==  
 
== Motor Specifications ==  
  
'''Drive motors''' <br>
+
===Drive motors ===
 
• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br>
 
• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br>
 
• 3x Maxon Planetary gearhead GP 42 C 12:1 <br>  
 
• 3x Maxon Planetary gearhead GP 42 C 12:1 <br>  
 
• 3x Maxon Encoder: HEDS 5540 <br>
 
• 3x Maxon Encoder: HEDS 5540 <br>
  
'''Ball handling motors''' <br>
+
=== Ball handling motors ===
 
''Ball receivers'' <br>
 
''Ball receivers'' <br>
 
• 2x Maxon RE 25 24 V 20 W <br>
 
• 2x Maxon RE 25 24 V 20 W <br>
• 2x Maxon FP 32 C Planetary gearhead <br>
+
•      2x Gysin GSR012-1-05-1 5:1 wormbox <br>
•      2x Gysin GSR012-1-05-1 %:1 gearbox <br>
+
• 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br>
• 2x Maxon Encoder: HEDS 5540 <br>
+
 
<br>
 
<br>
 
''Ball kicking hinge'' <br>
 
''Ball kicking hinge'' <br>
 
• 1x Maxon RE 25 24 V 18 W <br>
 
• 1x Maxon RE 25 24 V 18 W <br>
• 1x Maxon FP 32 C Planetary gearhead <br>  
+
• 1x Maxon GP 32 C Planetary gearhead <br>  
 
• 1x Maxon Encoder: HEDS 5540 <br>
 
• 1x Maxon Encoder: HEDS 5540 <br>
  
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== Computer ==  
 
== Computer ==  
Industrial Beckhoff PC C6920-0010
+
 
 +
'''Industrial Beckhoff PC C6920-0010''' <br>
 +
 
 +
Intel® Core2™ Duo 2.0 GHz (TC3: 70)  <br>
 +
3½-inch motherboard <br>
 +
1 Mini PCI slot free for cards installed ex factory <br>
 +
2 GB DDR2RAM, expandable ex factory to 3 GB <br>
 +
on-board graphic adapter, Intel® GMA950, DVI-I connector <br>
 +
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br>
 +
8 GB Flash drive <br>
 +
disk, 2½-inch, 40 GB <br>
 +
1 serial port RS232 and 4 USB 2.0 ports <br>
 +
24 V DC power supply <br>
 +
weight of 1.9 kg (4.2 lbs) <br>
  
 
== Communication ==  
 
== Communication ==  
EtherCAT Beckhoff module
+
 
 +
'''Beckhoff EtherCAT Module''' <br>
 +
 
 +
EK1100    Ethercat coupler <br>
 +
EL1008    8* digital in <br>
 +
EL2008    8* digital out <br>
 +
EL3102    2* analog in 10V 16 bit <br>
 +
EL4038    8* analog out 10V 12 bit <br>
 +
EL5101    Incremental encoder interface<br>
 +
EL9011    E bushing <br>
 +
 
 +
'''WLAN''' <br>
 +
Intel PRO/Wireless 2915ABG Mini-PCI Adapter
  
 
== Vision ==  
 
== Vision ==  
'''Ominvision''' <br>
 
Prosilica <br>
 
  
''Lens'' <br>
+
=== Omnivision ===
 +
 
 +
'''Prosilica GC750C''' <br>
 +
Interface:  IEEE 802.3 1000baseT  <br>
 +
Resolution:  752 x 480 <br>
 +
Sensor:      Micron/Aptina MT9V022 <br>
 +
Sensor type: CMOS Progressive <br>
 +
Sensor size: Type 1/3 <br>
 +
Cell size:  6 µm <br>
 +
Lens mount:  CS <br>
 +
Max frame rate at full resolution:  60 fps <br>
 +
A/D:        10 bit <br>
 +
On-board FIFO: 16 MB <br>
 +
Power requirements (DC): 5-16 V <br>
 +
Power consumption (12 V): 2.2 W <br>
 +
Mass:        85 g <br>
 +
Body Dimensions (L x W x H in mm): 45x46x33 <br>
 +
 
 +
 
 +
'''Lens''' <br>
 
Pentax-Cosmicar C70214(TS212A)  Monofocal Manual Iris Lens <br>
 
Pentax-Cosmicar C70214(TS212A)  Monofocal Manual Iris Lens <br>
2.8 mm focal length;  
+
2.8 mm focal length; 1:1.2 CS (iris range)
1:1.2 CS (iris range) <br>
+
 
 +
=== Front camera (currently not used) ===
  
'''Front camera (currently not used)''' <br>
 
 
Model VC-4458 <br>
 
Model VC-4458 <br>
 
Resolution 640 x 480 <br>
 
Resolution 640 x 480 <br>
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• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br>  
 
• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br>  
  
== Capacitor ==  
+
== Capacitor for Kicker Solenoid ==  
 
450 V; 4700 µF
 
450 V; 4700 µF
  
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Omni Directional Base <br>
 
Omni Directional Base <br>
 
• Omniwheels: 3 driven <br>  
 
• Omniwheels: 3 driven <br>  
• Speed: 3.5 m/s  in each direction <br>
+
• Speed: 3.6 m/s  in each direction <br>
  
  
 
= Video =
 
= Video =
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|6gavmiOME-s}}</div>
+
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div>
  
  
 
= License =
 
= License =
Copyright Technische Universiteit Eindhoven 2012. <br>
+
Copyright Eindhoven University of Technology 2012. <br>
 
<br>
 
<br>
 
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br>
 
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br>
 
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br>
 
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br>
 
This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions.
 
This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions.

Revision as of 09:11, 4 September 2014

Robot Links
Author
TU/e
CST Group, TU/e
rop@tue.nl
Bill Of Materials
Excel Spreadsheet
CAD Files
Inventor Professional 2013
STEP
Siemens NX 7.5
Electronic Drawings
PDF
Software
Software
License
License Files

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


Contents




Robot Summary

TURTLEs are the football robots that compete in the RoboCup Mid-Size League for Eindhoven University of Technology.



Figure 1: TURTLE


3D Viewer


Overview

TURTLE is an acronym for Tech United Robocup Team: Limited Edition.

The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor attachments. The field players will be discussed in the following sections.
In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately:

1. The base
2. The upper body
3. The ball handling and kicking mechanism


Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism

Specifications

Construction

• Dimensions (HxWxD): 782.5 x 485 x 520 mm
• Weight: +/- 30 kg

Electrical

2 times Makita Ni-MH (BH2433) batteries
• Type: Ni-MH
• Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)
• Weight: 1,473 kg (one battery)
• Capacity: 3.3 Ah
• Voltage: 24 V

Motor Specifications

Drive motors

• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use)
• 3x Maxon Planetary gearhead GP 42 C 12:1
• 3x Maxon Encoder: HEDS 5540

Ball handling motors

Ball receivers
• 2x Maxon RE 25 24 V 20 W
• 2x Gysin GSR012-1-05-1 5:1 wormbox
• 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V

Ball kicking hinge
• 1x Maxon RE 25 24 V 18 W
• 1x Maxon GP 32 C Planetary gearhead
• 1x Maxon Encoder: HEDS 5540

Amplifiers

Drive amplifiers
3x Elmec Violin 25/60 Amplifiers

Ball handling and kicking mechanism
3x Elmec Violin 5/60 Amplifiers

Computer

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)

Communication

Beckhoff EtherCAT Module

EK1100 Ethercat coupler
EL1008 8* digital in
EL2008 8* digital out
EL3102 2* analog in 10V 16 bit
EL4038 8* analog out 10V 12 bit
EL5101 Incremental encoder interface
EL9011 E bushing

WLAN
Intel PRO/Wireless 2915ABG Mini-PCI Adapter

Vision

Omnivision

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


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

Front camera (currently not used)

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

Laser Range Finder (Currently not used on the field players)

Hokuyo UTM-30LX
• Power: source 12V +/- 10%
• Current: consumption 0.7A (max. 1.0 A)
• Detection range: 0.1 to approx. 60m (<30m guaranteed)
• Laser wavelength: 870 nm, Class 1
• Scan angle: 270 degrees
• Scan time: 0.025 s/scan (40.0 Hz)
• Angular resolution: 0.25 degrees
• Interface: USB 2.0 with trigger port
• Weight: 0.233 kg
• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm)

Capacitor for Kicker Solenoid

450 V; 4700 µF

Software

• Linux (Ubuntu 8.10)

Degrees of Freedom

Omni Directional Base
• Omniwheels: 3 driven
• Speed: 3.6 m/s in each direction


Video


License

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).
This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions.

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