TURTLE

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= EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMAION ON THE SITE =
  
 
= Robot Summary =  
 
= Robot Summary =  

Revision as of 09:23, 12 September 2012

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Author
TU/e
CST Group, TU/e
rop@tue.nl
CAD Files
(Coming Soon)
Electronic Drawings
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License Files

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


Contents




EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMAION ON THE SITE

Robot Summary

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



Figure 1: TURTLE


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 completely different design. However, the TURTLE field players will be discussed first 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: +/- 37 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
• Autonomy: 15 min (active use); 30 min (normal use)

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 Maxon FP 32 C Planetary gearhead
• 2x Gysin GSR012-1-05-1 gearbox
• 2x Maxon Encoder: HEDS 5540

Ball kicking hinge
• 1x Maxon RE 25 24 V 18 W
• 1x Maxon FP 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

Communication

EtherCAT Beckhoff module

Vision

Ominvision
Prosilica

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

450 V; 4700 µF

Software

• Linux (Ubuntu 8.10)

Degrees of Freedom

Omni Directional Base
• Omniwheels: 3 driven
• Speed: 3.5 m/s in each direction


Video


License

Copyright Technische Universiteit Eindhoven 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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