https://roboticopenplatform.org/wiki/index.php?title=Special:Contributions/Whoutman&feed=atom&deletedOnly=&limit=50&target=Whoutman&topOnly=&year=&month=ROP - User contributions [en]2024-03-29T13:23:01ZFrom ROPMediaWiki 1.17.0https://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-12-08T19:34:25Z<p>Whoutman: /* Video */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base.<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error statuses<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= Video =<br />
The video on the left indicated the first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on its square base. The video on the right demonstrates the functionalities of the system on the practice field of Tech United Eindhoven.<br />
<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;"><br />
{{#ev:youtube|nF_6aQLqb-Y}} {{#ev:youtube|4ZPNy5IjWFQ}}}</div><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-12-08T19:31:46Z<p>Whoutman: /* Video */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base.<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error statuses<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= Video =<br />
The first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on its square base.<br />
<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;"><br />
{{#ev:youtube|nF_6aQLqb-Y}} {{#ev:youtube|4ZPNy5IjWFQ}}}</div><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-09-03T06:27:23Z<p>Whoutman: /* Video */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base.<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error statuses<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= Video =<br />
The first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on its square base.<br />
<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|nF_6aQLqb-Y}}</div><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-07-01T12:41:19Z<p>Whoutman: /* Robot Summary */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]. Chose the "Turtle8W" subsystem to find the implementation of the control architecture of the 8-wheeled base.<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error statuses<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= Video =<br />
The first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on the squared base.<br />
<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|nF_6aQLqb-Y}}</div><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/File:8W_metKapenBalUitgeknipt.pngFile:8W metKapenBalUitgeknipt.png2020-06-29T14:27:02Z<p>Whoutman: moved File:8W metKapenBalUitgeknipt.png to File:8W realization.png</p>
<hr />
<div>#REDIRECT [[File:8W realization.png]]</div>Whoutmanhttps://roboticopenplatform.org/wiki/File:8W_realization.pngFile:8W realization.png2020-06-29T14:27:02Z<p>Whoutman: moved File:8W metKapenBalUitgeknipt.png to File:8W realization.png</p>
<hr />
<div></div>Whoutmanhttps://roboticopenplatform.org/wiki/File:8W_realization.pngFile:8W realization.png2020-06-29T14:25:05Z<p>Whoutman: uploaded a new version of &quot;File:8W metKapenBalUitgeknipt.png&quot;</p>
<hr />
<div></div>Whoutmanhttps://roboticopenplatform.org/wiki/File:8W_realization.pngFile:8W realization.png2020-06-29T14:19:36Z<p>Whoutman: uploaded a new version of &quot;File:8W metKapenBalUitgeknipt.png&quot;</p>
<hr />
<div></div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-06-26T10:03:17Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error statuses<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= Video =<br />
The first match appearance of the Eight-wheeled system at the RoboCup Portuguese Open 2019. The eight-wheeled system, indicated with number 7, can be discriminated from the other robots based on the squared base.<br />
<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|nF_6aQLqb-Y}}</div><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T09:47:52Z<p>Whoutman: /* Overview */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled soccer robot]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error statuses<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T09:45:46Z<p>Whoutman: /* Overview */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the control signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error statuses<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T09:42:12Z<p>Whoutman: /* Communication */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the actuation signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error statuses<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T09:37:13Z<p>Whoutman: /* Overview */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the actuation signals, the rotation of the wheels is unconstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error status<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T09:37:02Z<p>Whoutman: /* Overview */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3. By using slip rings for powering the wheel sets and communicating the actuation signals, the rotation of the wheels is uncnstrained in both directions.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error status<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T09:34:22Z<p>Whoutman: /* Electronics */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]]<br />
<br />
= Specifications =<br />
<br />
== Wheel Sets ==<br />
• Wheel radius: 0.056 meter<br><br />
• Lateral wheel distance: 0.056 meter<br><br />
• Motor velocity constant: 135 revolutions per minute per volt <br><br />
• Motor torque constant: 135 Newton meter per ampere<br><br />
• Motor resistance: 0.072 Ohm<br><br />
<br />
== Communication ==<br />
<br />
Custom EtherCat module consisting of <br />
<br />
''Observed signals:'' <br><br />
• Measured orientation of the wheel set (19 bit encoder)<br><br />
• Measured position of each wheel (16 bit encoder)<br><br />
• Measured velocity of each wheel<br><br />
• Safe torque off status<br><br />
• Warning & error status<br><br />
• Measured Negative Temperature Coefficient (NTC) resistor for temperature observations<br><br />
<br />
''Actuation Signals:'' <br><br />
• Control Mode: position, velocity or current control <br><br />
• Corresponding setpoint <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T09:08:59Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
|style="background:white; color:black;" align="left" | [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]]<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T08:58:54Z<p>Whoutman: /* Overview */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeled Turtle]]<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_BaseTURTLE Base2020-03-26T08:58:12Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
__TOC__<br />
<br />
<br />
= Part Summary = <br />
The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices.<br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
<br />
= Overview =<br />
Figure 1 shows the CAD model of the fully assembled base.<br />
[[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]]<br />
<br />
<br />
= Mechanics =<br />
=== Base ===<br />
<br />
[[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]]<br />
<br />
<br />
Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br><br />
The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br><br />
Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br><br />
An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br><br />
Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br><br />
On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br><br />
Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br><br />
Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section.<br />
<br />
== Electronic Components Mounted on the Base Frame ==<br />
<br />
[[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]]<br />
<br />
Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br><br />
<br />
1. 2 x Makita Ni-MH (BH2433) batteries. <br><br />
2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br><br />
3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br><br />
The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br><br />
4. 2 x Battery connector <br><br />
5. 2 x Battery PCB (see electronics section for more details) <br><br />
6. DC–DC PCB (see electronics section for more details) <br><br />
7. Power supply PCB (see electronics section for more details) <br><br />
8. EtherCAT stack <br><br />
9. Shooting PCB (see electronics section for more details)<br><br />
10. High voltage unit <br><br />
11. PCB high voltage unit <br><br />
12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br><br />
<br />
== Omniwheels ==<br />
<br />
{| style="background: transparent; margin: auto;"<br />
| [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]]<br />
| [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]]<br />
|}<br />
<br />
Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br><br />
One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers.<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_Upper_BodyTURTLE Upper Body2020-03-26T08:57:23Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
__TOC__<br />
<br />
<br />
= Part Summary = <br />
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. <br><br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
= Overview =<br />
Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly.<br />
<br />
{| style="background: transparent; margin: auto;"<br />
| [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]]<br />
| [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]]<br />
|}<br />
<br />
<br />
= Mechanics =<br />
== Upper Body Frame ==<br />
<br />
[[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]]<br />
<br />
[[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]]<br />
<br />
<br />
Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br><br />
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). <br><br />
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. <br><br />
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). <br><br />
<br />
== Vision Tube with Omnivision Camera ==<br />
<br />
<br />
{| style="background: transparent; margin: auto;"<br />
| [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]]<br />
| [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]]<br />
|}<br />
<br />
Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br><br />
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. <br><br />
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.<br />
<br />
== The front camera and other electronics on the upper body ==<br />
<br />
[[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]]<br />
<br />
A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br><br />
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. <br><br />
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! <br><br />
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). <br><br />
Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure.<br />
<br />
= Electronics =<br />
<br />
=== Omnivision ===<br />
<br />
'''Prosilica GC750C''' <br><br />
Interface: IEEE 802.3 1000baseT <br><br />
Resolution: 752 x 480 <br><br />
Sensor: Micron/Aptina MT9V022 <br><br />
Sensor type: CMOS Progressive <br><br />
Sensor size: Type 1/3 <br><br />
Cell size: 6 µm <br><br />
Lens mount: CS <br><br />
Max frame rate at full resolution: 60 fps <br><br />
A/D: 10 bit <br><br />
On-board FIFO: 16 MB <br><br />
Power requirements (DC): 5-16 V <br><br />
Power consumption (12 V): 2.2 W <br><br />
Mass: 85 g <br><br />
Body Dimensions (L x W x H in mm): 45x46x33 <br><br />
<br />
<br />
'''Lens''' <br><br />
Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br><br />
2.8 mm focal length; 1:1.2 CS (iris range)<br />
<br />
=== Front camera (currently not used on the field players) ===<br />
<br />
'''Model: VC-4458''' <br><br />
Resolution: 640 x 480 <br><br />
Sensor: 1/3" CCD <br><br />
Frame rate: 242 fps <br><br />
Shutter: 5µs - 2.2s <br><br />
Processor: TI 1 GHz <br><br />
Computational Power 8000 MIPS <br><br />
Digital I/Os 4 inputs, 4 outputs <br> <br />
Video output: RS232 and 100Mbit Ethernet <br><br />
Dimensions: Approx. 110 x 80 x 35 mm, <br><br />
Weight: approx. 500 g <br><br />
<br />
=== Computer ===<br />
<br />
'''Industrial Beckhoff PC C6920-0010''' <br><br />
<br />
Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br><br />
3½-inch motherboard <br><br />
1 Mini PCI slot free for cards installed ex factory <br><br />
2 GB DDR2RAM, expandable ex factory to 3 GB <br><br />
on-board graphic adapter, Intel® GMA950, DVI-I connector <br><br />
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br><br />
8 GB Flash drive <br><br />
disk, 2½-inch, 40 GB <br><br />
1 serial port RS232 and 4 USB 2.0 ports <br><br />
24 V DC power supply <br> <br />
weight of 1.9 kg (4.2 lbs) <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_Ball_Handling_and_Kicking_MechanismTURTLE Ball Handling and Kicking Mechanism2020-03-26T08:56:46Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
__TOC__<br />
<br />
<br />
= Part Summary = <br />
The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br><br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
= Overview =<br />
The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively.<br />
<br />
[[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]]<br />
<br />
[[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]]<br />
<br />
Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br><br />
<br />
The visualized components are listed down below and will be discussed in more detail. <br><br />
1. The ball handling and kicking frame; <br><br />
2. The wireless antenna from RF Solutions (315 MHz); <br><br />
3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br><br />
4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br><br />
5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br><br />
6. The ball holders from the ball handling mechanism; <br><br />
7. The ball receivers of the ball handling mechanism;<br><br />
8. The plunger; <br><br />
9. The kicking mechanism; <br><br />
10. The kicking actuator. <br><br />
<br />
= Mechanics =<br />
== The ball handling and kicking frame with hinges ==<br />
<br />
[[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]]<br />
<br />
<br />
First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br><br />
The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br><br />
Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br><br />
<br />
== The Capacitor ==<br />
<br />
[[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]]<br />
<br />
The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br><br />
Finally, this structure is connected to the frame with threaded holes (5). <br><br />
Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot.<br />
<br />
== The Ball Holders ==<br />
<br />
[[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]]<br />
<br />
The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br><br />
<br><br />
In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br><br />
Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br><br />
Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762).<br />
<br />
== The Ball Receivers ==<br />
<br />
[[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]]<br />
<br />
The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br><br />
<br><br />
<br />
The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061.<br />
This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br><br />
On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br><br />
The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br><br />
A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.''<br />
<br />
== The Plunger ==<br />
<br />
[[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]]<br />
<br />
The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br><br />
On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032).<br />
<br />
== The Kicking Actuator ==<br />
<br />
[[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]]<br />
<br />
<br />
Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br><br />
Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load.<br />
<br />
== The Kicking Mechanism ==<br />
<br />
[[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]]<br />
<br />
The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br><br />
<br><br />
The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br><br />
The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br><br />
On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br><br />
<br />
= Electronics =<br />
<br />
'''Beckhoff EtherCAT Module''' <br><br />
<br />
EK1100 Ethercat coupler <br><br />
EL1008 8* digital in <br><br />
EL2008 8* digital out <br><br />
EL3102 2* analog in 10V 16 bit <br><br />
EL4038 8* analog out 10V 12 bit <br><br />
EL5101 Incremental encoder interface<br><br />
EL9011 E bushing <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_GoalkeeperTURTLE Goalkeeper2020-03-26T08:56:14Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
<br />
<br />
<br />
<br />
= Robot Summary = <br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
<br />
<br />
<br />
[[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]]<br />
<br />
= Overview =<br />
TURTLE is an acronym for Tech United Robocup Team: Limited Edition. <br />
<br />
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|TURTLE field players]] can be used as a keeper with minor attachments. <br />
<br />
<br />
[[Image:TURTLE Goalkeeper Front.jpg|300px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]]<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T08:54:44Z<p>Whoutman: /* Overview */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3.<br />
<br />
<br />
[[File:8w-BaseView.jpg|400px|Image: 400 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeld Turtle]]<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T08:50:35Z<p>Whoutman: /* Overview */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version of the Tech United RoboCup Team Limited Edition (TURTLE) robots. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot, which is shown in Figure 3.<br />
<br />
<br />
[[File:8w-BaseView.jpg|300px|Image: 300 pixels|thumb|center|Figure 3: Wheel configuration including the base plate and hinging axle of the 8-wheeld Turtle]]<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/File:8w-BaseView.jpgFile:8w-BaseView.jpg2020-03-26T08:44:45Z<p>Whoutman: uploaded a new version of &quot;File:8w-BaseView.jpg&quot;</p>
<hr />
<div></div>Whoutmanhttps://roboticopenplatform.org/wiki/File:8w-BaseView.jpgFile:8w-BaseView.jpg2020-03-26T08:40:53Z<p>Whoutman: </p>
<hr />
<div></div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T08:11:45Z<p>Whoutman: /* Robot Summary */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. Figure 1 depicts such a wheel set, whereas the realization of the system is shown in Figure 2. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot.<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-26T07:15:20Z<p>Whoutman: /* Overview */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|the upper body]] and the [[TURTLE Ball Handling and Kicking Mechanism|the ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels. As such, the platform is five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. This degree of freedom is visualized in Figure 1 by the white lines. The last platform-constraint is addressed by a hinging axle at the back of the robot.<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T17:04:09Z<p>Whoutman: /* 3D Viewer */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/cfc354a6f1ff41f793b03af2290d043a/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|The upper body]] and the [TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot.<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T16:40:56Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=TODO<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|The upper body]] and the [TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
This platform consists of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot.<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T16:40:17Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set, including the passive lateral degree of freedom indicated with the white (dotted) lines and the rotational degree of freedom which can be manipulated by a force difference applied to the ground by both wheels.<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=TODO<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
= Overview = <br />
The eight-wheels system is a redesign of the three wheeled version. As such, the base has been reconsidered, while the [[TURTLE Upper Body|The upper body]] and the [TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] have been reused. Therefore, the focus of the hardware elaborated on this page is on the wheel sets and the assembly of the entire system.<br />
<br />
Thisplatform consists of four wheel sets, each having two hub-drive wheels, thus beingfive times over-constrained. To avoid an over-constrained design, each wheelset has an internal degree of freedom. The last constraint is addressed by ahinging axle at the back of the robot.<br />
<br />
= Electronics =<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T13:57:28Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] of the [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLETURTLE2020-03-25T13:51:15Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
<br />
<br />
<br />
<br />
= Robot Summary = <br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
The structure of the software is explained using MATLAB Simulink flow charts, which can be found by clicking on the links below (opening in Internet Explorer requires a seperate plugin):<br />
<br />
<div class="center" style="width:800;"><br />
[http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] | <br />
[http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] | <br />
[http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] | <br />
[http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
</div><br />
<br />
<br />
[[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]]<br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
<br />
= Overview =<br />
TURTLE is an acronym for Tech United Robocup Team: Limited Edition. <br />
<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><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:<br />
<br />
1. [[TURTLE Base|The base]] <br><br />
2. [[TURTLE Upper Body|The upper body]] <br><br />
3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br><br />
<br />
<br />
[[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]]<br />
<br />
= Specifications =<br />
<br />
== Construction ==<br />
<br />
• Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> <br />
• Weight: +/- 30 kg<br />
<br />
== Electrical == <br />
<br />
2 times Makita Ni-MH (BH2433) batteries <br><br />
• Type: Ni-MH <br><br />
• Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> <br />
• Weight: 1,473 kg (one battery) <br> <br />
• Capacity: 3.3 Ah <br> <br />
• Voltage: 24 V <br> <br />
<br />
== Motor Specifications == <br />
<br />
===Drive motors === <br />
• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br><br />
• 3x Maxon Planetary gearhead GP 42 C 12:1 <br> <br />
• 3x Maxon Encoder: HEDS 5540 <br><br />
<br />
=== Ball handling motors ===<br />
''Ball receivers'' <br><br />
• 2x Maxon RE 25 24 V 20 W <br><br />
• 2x Gysin GSR012-1-05-1 5:1 wormbox <br><br />
• 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br><br />
<br><br />
''Ball kicking hinge'' <br><br />
• 1x Maxon RE 25 24 V 18 W <br><br />
• 1x Maxon GP 32 C Planetary gearhead <br> <br />
• 1x Maxon Encoder: HEDS 5540 <br><br />
<br />
== Amplifiers == <br />
''Drive amplifiers'' <br><br />
3x Elmec Violin 25/60 Amplifiers <br><br />
<br />
''Ball handling and kicking mechanism'' <br><br />
3x Elmec Violin 5/60 Amplifiers <br><br />
<br />
== Computer == <br />
<br />
'''Industrial Beckhoff PC C6920-0010''' <br><br />
<br />
Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br><br />
3½-inch motherboard <br><br />
1 Mini PCI slot free for cards installed ex factory <br><br />
2 GB DDR2RAM, expandable ex factory to 3 GB <br><br />
on-board graphic adapter, Intel® GMA950, DVI-I connector <br><br />
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br><br />
8 GB Flash drive <br><br />
disk, 2½-inch, 40 GB <br><br />
1 serial port RS232 and 4 USB 2.0 ports <br><br />
24 V DC power supply <br> <br />
weight of 1.9 kg (4.2 lbs) <br><br />
<br />
== Communication == <br />
<br />
'''Beckhoff EtherCAT Module''' <br><br />
<br />
EK1100 Ethercat coupler <br><br />
EL1008 8* digital in <br><br />
EL2008 8* digital out <br><br />
EL3102 2* analog in 10V 16 bit <br><br />
EL4038 8* analog out 10V 12 bit <br><br />
EL5101 Incremental encoder interface<br><br />
EL9011 E bushing <br><br />
<br />
'''WLAN''' <br><br />
Intel PRO/Wireless 2915ABG Mini-PCI Adapter<br />
<br />
== Vision == <br />
<br />
=== Omnivision ===<br />
<br />
'''Prosilica GC750C''' <br><br />
Interface: IEEE 802.3 1000baseT <br><br />
Resolution: 752 x 480 <br><br />
Sensor: Micron/Aptina MT9V022 <br><br />
Sensor type: CMOS Progressive <br><br />
Sensor size: Type 1/3 <br><br />
Cell size: 6 µm <br><br />
Lens mount: CS <br><br />
Max frame rate at full resolution: 60 fps <br><br />
A/D: 10 bit <br><br />
On-board FIFO: 16 MB <br><br />
Power requirements (DC): 5-16 V <br><br />
Power consumption (12 V): 2.2 W <br><br />
Mass: 85 g <br><br />
Body Dimensions (L x W x H in mm): 45x46x33 <br><br />
<br />
<br />
'''Lens''' <br><br />
Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br><br />
2.8 mm focal length; 1:1.2 CS (iris range)<br />
<br />
=== Front camera (currently not used) ===<br />
<br />
Model VC-4458 <br><br />
Resolution 640 x 480 <br><br />
Sensor: 1/3" CCD <br><br />
Frame rate: 242 fps <br><br />
Shutter: 5µs - 2.2s <br><br />
Processor: TI 1 GHz <br><br />
Computational Power 8000 MIPS <br><br />
Digital I/Os 4 inputs, 4 outputs <br> <br />
Video output: RS232 and 100Mbit Ethernet <br><br />
Dimensions: Approx. 110 x 80 x 35 mm, <br><br />
Weight: approx. 500 g <br><br />
<br />
== Laser Range Finder (Currently not used on the field players)== <br />
<br />
'''Hokuyo UTM-30LX''' <br><br />
• Power: source 12V +/- 10% <br> <br />
• Current: consumption 0.7A (max. 1.0 A) <br><br />
• Detection range: 0.1 to approx. 60m (<30m guaranteed) <br><br />
• Laser wavelength: 870 nm, Class 1 <br><br />
• Scan angle: 270 degrees <br><br />
• Scan time: 0.025 s/scan (40.0 Hz) <br> <br />
• Angular resolution: 0.25 degrees <br><br />
• Interface: USB 2.0 with trigger port <br> <br />
• Weight: 0.233 kg <br><br />
• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> <br />
<br />
== Capacitor for Kicker Solenoid == <br />
450 V; 4700 µF<br />
<br />
== Software == <br />
• Linux (Ubuntu 8.10)<br />
<br />
== Degrees of Freedom == <br />
<br />
Omni Directional Base <br><br />
• Omniwheels: 3 driven <br> <br />
• Speed: 3.6 m/s in each direction <br><br />
<br />
<br />
= Video =<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div><br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T13:48:58Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T13:48:19Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software Flow Charts'''<br />
|-<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision]<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLETURTLE2020-03-25T13:44:07Z<p>Whoutman: /* Robot Summary */</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
<br />
<br />
<br />
<br />
= Robot Summary = <br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
The structure of the software is explained using MATLAB Simulink flow charts, which can be found by clicking on the links below (opening in Internet Explorer requires a seperate plugin):<br />
<br />
<div class="center" style="width:800;"><br />
[http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] | <br />
[http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] | <br />
[http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] | <br />
[http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]<br />
</div><br />
<br />
<br />
[[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]]<br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
<br />
= Overview =<br />
TURTLE is an acronym for Tech United Robocup Team: Limited Edition. <br />
<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><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:<br />
<br />
1. [[TURTLE Base|The base]] <br><br />
2. [[TURTLE Upper Body|The upper body]] <br><br />
3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br><br />
<br />
<br />
[[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]]<br />
<br />
= Specifications =<br />
<br />
== Construction ==<br />
<br />
• Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> <br />
• Weight: +/- 30 kg<br />
<br />
== Electrical == <br />
<br />
2 times Makita Ni-MH (BH2433) batteries <br><br />
• Type: Ni-MH <br><br />
• Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> <br />
• Weight: 1,473 kg (one battery) <br> <br />
• Capacity: 3.3 Ah <br> <br />
• Voltage: 24 V <br> <br />
<br />
== Motor Specifications == <br />
<br />
===Drive motors === <br />
• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br><br />
• 3x Maxon Planetary gearhead GP 42 C 12:1 <br> <br />
• 3x Maxon Encoder: HEDS 5540 <br><br />
<br />
=== Ball handling motors ===<br />
''Ball receivers'' <br><br />
• 2x Maxon RE 25 24 V 20 W <br><br />
• 2x Gysin GSR012-1-05-1 5:1 wormbox <br><br />
• 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br><br />
<br><br />
''Ball kicking hinge'' <br><br />
• 1x Maxon RE 25 24 V 18 W <br><br />
• 1x Maxon GP 32 C Planetary gearhead <br> <br />
• 1x Maxon Encoder: HEDS 5540 <br><br />
<br />
== Amplifiers == <br />
''Drive amplifiers'' <br><br />
3x Elmec Violin 25/60 Amplifiers <br><br />
<br />
''Ball handling and kicking mechanism'' <br><br />
3x Elmec Violin 5/60 Amplifiers <br><br />
<br />
== Computer == <br />
<br />
'''Industrial Beckhoff PC C6920-0010''' <br><br />
<br />
Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br><br />
3½-inch motherboard <br><br />
1 Mini PCI slot free for cards installed ex factory <br><br />
2 GB DDR2RAM, expandable ex factory to 3 GB <br><br />
on-board graphic adapter, Intel® GMA950, DVI-I connector <br><br />
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br><br />
8 GB Flash drive <br><br />
disk, 2½-inch, 40 GB <br><br />
1 serial port RS232 and 4 USB 2.0 ports <br><br />
24 V DC power supply <br> <br />
weight of 1.9 kg (4.2 lbs) <br><br />
<br />
== Communication == <br />
<br />
'''Beckhoff EtherCAT Module''' <br><br />
<br />
EK1100 Ethercat coupler <br><br />
EL1008 8* digital in <br><br />
EL2008 8* digital out <br><br />
EL3102 2* analog in 10V 16 bit <br><br />
EL4038 8* analog out 10V 12 bit <br><br />
EL5101 Incremental encoder interface<br><br />
EL9011 E bushing <br><br />
<br />
'''WLAN''' <br><br />
Intel PRO/Wireless 2915ABG Mini-PCI Adapter<br />
<br />
== Vision == <br />
<br />
=== Omnivision ===<br />
<br />
'''Prosilica GC750C''' <br><br />
Interface: IEEE 802.3 1000baseT <br><br />
Resolution: 752 x 480 <br><br />
Sensor: Micron/Aptina MT9V022 <br><br />
Sensor type: CMOS Progressive <br><br />
Sensor size: Type 1/3 <br><br />
Cell size: 6 µm <br><br />
Lens mount: CS <br><br />
Max frame rate at full resolution: 60 fps <br><br />
A/D: 10 bit <br><br />
On-board FIFO: 16 MB <br><br />
Power requirements (DC): 5-16 V <br><br />
Power consumption (12 V): 2.2 W <br><br />
Mass: 85 g <br><br />
Body Dimensions (L x W x H in mm): 45x46x33 <br><br />
<br />
<br />
'''Lens''' <br><br />
Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br><br />
2.8 mm focal length; 1:1.2 CS (iris range)<br />
<br />
=== Front camera (currently not used) ===<br />
<br />
Model VC-4458 <br><br />
Resolution 640 x 480 <br><br />
Sensor: 1/3" CCD <br><br />
Frame rate: 242 fps <br><br />
Shutter: 5µs - 2.2s <br><br />
Processor: TI 1 GHz <br><br />
Computational Power 8000 MIPS <br><br />
Digital I/Os 4 inputs, 4 outputs <br> <br />
Video output: RS232 and 100Mbit Ethernet <br><br />
Dimensions: Approx. 110 x 80 x 35 mm, <br><br />
Weight: approx. 500 g <br><br />
<br />
== Laser Range Finder (Currently not used on the field players)== <br />
<br />
'''Hokuyo UTM-30LX''' <br><br />
• Power: source 12V +/- 10% <br> <br />
• Current: consumption 0.7A (max. 1.0 A) <br><br />
• Detection range: 0.1 to approx. 60m (<30m guaranteed) <br><br />
• Laser wavelength: 870 nm, Class 1 <br><br />
• Scan angle: 270 degrees <br><br />
• Scan time: 0.025 s/scan (40.0 Hz) <br> <br />
• Angular resolution: 0.25 degrees <br><br />
• Interface: USB 2.0 with trigger port <br> <br />
• Weight: 0.233 kg <br><br />
• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> <br />
<br />
== Capacitor for Kicker Solenoid == <br />
450 V; 4700 µF<br />
<br />
== Software == <br />
• Linux (Ubuntu 8.10)<br />
<br />
== Degrees of Freedom == <br />
<br />
Omni Directional Base <br><br />
• Omniwheels: 3 driven <br> <br />
• Speed: 3.6 m/s in each direction <br><br />
<br />
<br />
= Video =<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div><br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T13:37:20Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
<br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T13:26:04Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/TURTLE-8w-Assembly.STEP STEP]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/Wiring%20Schemes/E-schema_8w.pdf PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T13:17:16Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<gallery class="center" widths="225" heights="300" ><br />
Image:8w-wielSet.png|Figure 1: Wheel Set<br />
Image:8W metKapenBalUitgeknipt.png|Figure 2: Realization of the system<br />
</gallery><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/File:8W_realization.pngFile:8W realization.png2020-03-25T12:47:38Z<p>Whoutman: </p>
<hr />
<div></div>Whoutmanhttps://roboticopenplatform.org/wiki/File:8w-wielSet.pngFile:8w-wielSet.png2020-03-25T11:03:02Z<p>Whoutman: </p>
<hr />
<div></div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T10:19:50Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction. <br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
Contributions in publications about this platform can be found in <br />
Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham<br />
<br />
Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham<br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T09:08:48Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the three-wheeled [[TURTLE Base|base]]<br />
<br />
<br />
<br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
<br />
<br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T08:41:13Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the <br />
<br />
<br />
<br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
<br />
<br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLETURTLE2020-03-25T08:38:06Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
<br />
<br />
<br />
<br />
= Robot Summary = <br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
The structure of the software is explained using MATLAB Simulink flow charts, which can be found by clicking on the links below (opening in Internet Explorer requires a seperate plugin).<br />
<br />
<br />
<div class="center"><br />
[http://www.techunited.nl/media/images/Tech%20United%20-%20Software%20Scheme.pdf|Software Scheme] | <br />
[http://www.techunited.nl/simulink/motion_turtle_slwebview_files/index.html Motion] | <br />
[http://www.techunited.nl/simulink/vision_turtle_slwebview_files/index.html Vision] | <br />
[http://www.techunited.nl/simulink/worldmodel_slwebview_files/index.html World Model]</div><br />
<br />
[[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]]<br />
<br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
<br />
= Overview =<br />
TURTLE is an acronym for Tech United Robocup Team: Limited Edition. <br />
<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><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:<br />
<br />
1. [[TURTLE Base|The base]] <br><br />
2. [[TURTLE Upper Body|The upper body]] <br><br />
3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br><br />
<br />
<br />
[[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]]<br />
<br />
= Specifications =<br />
<br />
== Construction ==<br />
<br />
• Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> <br />
• Weight: +/- 30 kg<br />
<br />
== Electrical == <br />
<br />
2 times Makita Ni-MH (BH2433) batteries <br><br />
• Type: Ni-MH <br><br />
• Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> <br />
• Weight: 1,473 kg (one battery) <br> <br />
• Capacity: 3.3 Ah <br> <br />
• Voltage: 24 V <br> <br />
<br />
== Motor Specifications == <br />
<br />
===Drive motors === <br />
• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br><br />
• 3x Maxon Planetary gearhead GP 42 C 12:1 <br> <br />
• 3x Maxon Encoder: HEDS 5540 <br><br />
<br />
=== Ball handling motors ===<br />
''Ball receivers'' <br><br />
• 2x Maxon RE 25 24 V 20 W <br><br />
• 2x Gysin GSR012-1-05-1 5:1 wormbox <br><br />
• 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br><br />
<br><br />
''Ball kicking hinge'' <br><br />
• 1x Maxon RE 25 24 V 18 W <br><br />
• 1x Maxon GP 32 C Planetary gearhead <br> <br />
• 1x Maxon Encoder: HEDS 5540 <br><br />
<br />
== Amplifiers == <br />
''Drive amplifiers'' <br><br />
3x Elmec Violin 25/60 Amplifiers <br><br />
<br />
''Ball handling and kicking mechanism'' <br><br />
3x Elmec Violin 5/60 Amplifiers <br><br />
<br />
== Computer == <br />
<br />
'''Industrial Beckhoff PC C6920-0010''' <br><br />
<br />
Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br><br />
3½-inch motherboard <br><br />
1 Mini PCI slot free for cards installed ex factory <br><br />
2 GB DDR2RAM, expandable ex factory to 3 GB <br><br />
on-board graphic adapter, Intel® GMA950, DVI-I connector <br><br />
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br><br />
8 GB Flash drive <br><br />
disk, 2½-inch, 40 GB <br><br />
1 serial port RS232 and 4 USB 2.0 ports <br><br />
24 V DC power supply <br> <br />
weight of 1.9 kg (4.2 lbs) <br><br />
<br />
== Communication == <br />
<br />
'''Beckhoff EtherCAT Module''' <br><br />
<br />
EK1100 Ethercat coupler <br><br />
EL1008 8* digital in <br><br />
EL2008 8* digital out <br><br />
EL3102 2* analog in 10V 16 bit <br><br />
EL4038 8* analog out 10V 12 bit <br><br />
EL5101 Incremental encoder interface<br><br />
EL9011 E bushing <br><br />
<br />
'''WLAN''' <br><br />
Intel PRO/Wireless 2915ABG Mini-PCI Adapter<br />
<br />
== Vision == <br />
<br />
=== Omnivision ===<br />
<br />
'''Prosilica GC750C''' <br><br />
Interface: IEEE 802.3 1000baseT <br><br />
Resolution: 752 x 480 <br><br />
Sensor: Micron/Aptina MT9V022 <br><br />
Sensor type: CMOS Progressive <br><br />
Sensor size: Type 1/3 <br><br />
Cell size: 6 µm <br><br />
Lens mount: CS <br><br />
Max frame rate at full resolution: 60 fps <br><br />
A/D: 10 bit <br><br />
On-board FIFO: 16 MB <br><br />
Power requirements (DC): 5-16 V <br><br />
Power consumption (12 V): 2.2 W <br><br />
Mass: 85 g <br><br />
Body Dimensions (L x W x H in mm): 45x46x33 <br><br />
<br />
<br />
'''Lens''' <br><br />
Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br><br />
2.8 mm focal length; 1:1.2 CS (iris range)<br />
<br />
=== Front camera (currently not used) ===<br />
<br />
Model VC-4458 <br><br />
Resolution 640 x 480 <br><br />
Sensor: 1/3" CCD <br><br />
Frame rate: 242 fps <br><br />
Shutter: 5µs - 2.2s <br><br />
Processor: TI 1 GHz <br><br />
Computational Power 8000 MIPS <br><br />
Digital I/Os 4 inputs, 4 outputs <br> <br />
Video output: RS232 and 100Mbit Ethernet <br><br />
Dimensions: Approx. 110 x 80 x 35 mm, <br><br />
Weight: approx. 500 g <br><br />
<br />
== Laser Range Finder (Currently not used on the field players)== <br />
<br />
'''Hokuyo UTM-30LX''' <br><br />
• Power: source 12V +/- 10% <br> <br />
• Current: consumption 0.7A (max. 1.0 A) <br><br />
• Detection range: 0.1 to approx. 60m (<30m guaranteed) <br><br />
• Laser wavelength: 870 nm, Class 1 <br><br />
• Scan angle: 270 degrees <br><br />
• Scan time: 0.025 s/scan (40.0 Hz) <br> <br />
• Angular resolution: 0.25 degrees <br><br />
• Interface: USB 2.0 with trigger port <br> <br />
• Weight: 0.233 kg <br><br />
• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> <br />
<br />
== Capacitor for Kicker Solenoid == <br />
450 V; 4700 µF<br />
<br />
== Software == <br />
• Linux (Ubuntu 8.10)<br />
<br />
== Degrees of Freedom == <br />
<br />
Omni Directional Base <br><br />
• Omniwheels: 3 driven <br> <br />
• Speed: 3.6 m/s in each direction <br><br />
<br />
<br />
= Video =<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div><br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T07:54:55Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
= Robot Summary = <br />
As an alternative for the <br />
<br />
<br />
<br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]<br />
<br />
<br />
<br />
<br />
[[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]]<br />
<br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLETURTLE2020-03-25T07:39:50Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Bill Of Materials'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Bill%20Of%20Materials/ Excel Spreadsheet]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Mechanical%20Designs/3D%20CAD%20Models/STEP/ STEP]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Designs/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
<br />
<br />
<br />
<br />
= Robot Summary = <br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/universiteit/faculteiten/werktuigbouwkunde/onderzoek/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
<br />
<br />
<br />
[[Image:Turtle_BIG.jpg|400px|thumb|center|Figure 1: TURTLE]]<br />
<br />
<br />
= 3D Viewer =<br />
<center>{{#widget:Iframe<br />
|url=https://sketchfab.com/models/7c5ae282051947d7bbf5a7cfd323d832/embed<br />
|width=640<br />
|height=480<br />
|border=0<br />
}}</center><br />
<br />
<br />
= Overview =<br />
TURTLE is an acronym for Tech United Robocup Team: Limited Edition. <br />
<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><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:<br />
<br />
1. [[TURTLE Base|The base]] <br><br />
2. [[TURTLE Upper Body|The upper body]] <br><br />
3. [[TURTLE Ball Handling and Kicking Mechanism|The ball handling and kicking mechanism]] <br><br />
<br />
<br />
[[Image:Turtle_assembly_division.jpg|400px|thumb|center|Figure 2: The TURTLE’s base, upper body and ball handling/kicking mechanism]]<br />
<br />
= Specifications =<br />
<br />
== Construction ==<br />
<br />
• Dimensions (HxWxD): 782.5 x 485 x 520 mm <br> <br />
• Weight: +/- 30 kg<br />
<br />
== Electrical == <br />
<br />
2 times Makita Ni-MH (BH2433) batteries <br><br />
• Type: Ni-MH <br><br />
• Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)<br> <br />
• Weight: 1,473 kg (one battery) <br> <br />
• Capacity: 3.3 Ah <br> <br />
• Voltage: 24 V <br> <br />
<br />
== Motor Specifications == <br />
<br />
===Drive motors === <br />
• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use) <br><br />
• 3x Maxon Planetary gearhead GP 42 C 12:1 <br> <br />
• 3x Maxon Encoder: HEDS 5540 <br><br />
<br />
=== Ball handling motors ===<br />
''Ball receivers'' <br><br />
• 2x Maxon RE 25 24 V 20 W <br><br />
• 2x Gysin GSR012-1-05-1 5:1 wormbox <br><br />
• 2x Maxon Encoder: DC-Tacho DCT 22; 0.52 V <br><br />
<br><br />
''Ball kicking hinge'' <br><br />
• 1x Maxon RE 25 24 V 18 W <br><br />
• 1x Maxon GP 32 C Planetary gearhead <br> <br />
• 1x Maxon Encoder: HEDS 5540 <br><br />
<br />
== Amplifiers == <br />
''Drive amplifiers'' <br><br />
3x Elmec Violin 25/60 Amplifiers <br><br />
<br />
''Ball handling and kicking mechanism'' <br><br />
3x Elmec Violin 5/60 Amplifiers <br><br />
<br />
== Computer == <br />
<br />
'''Industrial Beckhoff PC C6920-0010''' <br><br />
<br />
Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br><br />
3½-inch motherboard <br><br />
1 Mini PCI slot free for cards installed ex factory <br><br />
2 GB DDR2RAM, expandable ex factory to 3 GB <br><br />
on-board graphic adapter, Intel® GMA950, DVI-I connector <br><br />
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br><br />
8 GB Flash drive <br><br />
disk, 2½-inch, 40 GB <br><br />
1 serial port RS232 and 4 USB 2.0 ports <br><br />
24 V DC power supply <br> <br />
weight of 1.9 kg (4.2 lbs) <br><br />
<br />
== Communication == <br />
<br />
'''Beckhoff EtherCAT Module''' <br><br />
<br />
EK1100 Ethercat coupler <br><br />
EL1008 8* digital in <br><br />
EL2008 8* digital out <br><br />
EL3102 2* analog in 10V 16 bit <br><br />
EL4038 8* analog out 10V 12 bit <br><br />
EL5101 Incremental encoder interface<br><br />
EL9011 E bushing <br><br />
<br />
'''WLAN''' <br><br />
Intel PRO/Wireless 2915ABG Mini-PCI Adapter<br />
<br />
== Vision == <br />
<br />
=== Omnivision ===<br />
<br />
'''Prosilica GC750C''' <br><br />
Interface: IEEE 802.3 1000baseT <br><br />
Resolution: 752 x 480 <br><br />
Sensor: Micron/Aptina MT9V022 <br><br />
Sensor type: CMOS Progressive <br><br />
Sensor size: Type 1/3 <br><br />
Cell size: 6 µm <br><br />
Lens mount: CS <br><br />
Max frame rate at full resolution: 60 fps <br><br />
A/D: 10 bit <br><br />
On-board FIFO: 16 MB <br><br />
Power requirements (DC): 5-16 V <br><br />
Power consumption (12 V): 2.2 W <br><br />
Mass: 85 g <br><br />
Body Dimensions (L x W x H in mm): 45x46x33 <br><br />
<br />
<br />
'''Lens''' <br><br />
Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br><br />
2.8 mm focal length; 1:1.2 CS (iris range)<br />
<br />
=== Front camera (currently not used) ===<br />
<br />
Model VC-4458 <br><br />
Resolution 640 x 480 <br><br />
Sensor: 1/3" CCD <br><br />
Frame rate: 242 fps <br><br />
Shutter: 5µs - 2.2s <br><br />
Processor: TI 1 GHz <br><br />
Computational Power 8000 MIPS <br><br />
Digital I/Os 4 inputs, 4 outputs <br> <br />
Video output: RS232 and 100Mbit Ethernet <br><br />
Dimensions: Approx. 110 x 80 x 35 mm, <br><br />
Weight: approx. 500 g <br><br />
<br />
== Laser Range Finder (Currently not used on the field players)== <br />
<br />
'''Hokuyo UTM-30LX''' <br><br />
• Power: source 12V +/- 10% <br> <br />
• Current: consumption 0.7A (max. 1.0 A) <br><br />
• Detection range: 0.1 to approx. 60m (<30m guaranteed) <br><br />
• Laser wavelength: 870 nm, Class 1 <br><br />
• Scan angle: 270 degrees <br><br />
• Scan time: 0.025 s/scan (40.0 Hz) <br> <br />
• Angular resolution: 0.25 degrees <br><br />
• Interface: USB 2.0 with trigger port <br> <br />
• Weight: 0.233 kg <br><br />
• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm) <br> <br />
<br />
== Capacitor for Kicker Solenoid == <br />
450 V; 4700 µF<br />
<br />
== Software == <br />
• Linux (Ubuntu 8.10)<br />
<br />
== Degrees of Freedom == <br />
<br />
Omni Directional Base <br><br />
• Omniwheels: 3 driven <br> <br />
• Speed: 3.6 m/s in each direction <br><br />
<br />
<br />
= Video =<br />
<div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|JThUUCS8Ptg}}</div><br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_GoalkeeperTURTLE Goalkeeper2020-03-25T07:39:29Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Inventor%20Professional%202013/ Inventor Professional 2013]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/IGES/ IGES]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE%20Goalkeeper/Mechanical%20Designs/3D%20CAD%20Models/Siemens%20NX%207.5/ Siemens NX 7.5]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
<br />
<br />
<br />
<br />
= Robot Summary = <br />
TURTLEs are the football robots that compete in the [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].<br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K/ https://robotics.wtb.tue.nl/svn/rop/TURTLE-5K]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
<br />
<br />
<br />
[[Image:Keeper.jpg|400px|thumb|center|Figure 1: TURTLE Goalkeeper]]<br />
<br />
= Overview =<br />
TURTLE is an acronym for Tech United Robocup Team: Limited Edition. <br />
<br />
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|TURTLE field players]] can be used as a keeper with minor attachments. <br />
<br />
<br />
[[Image:TURTLE Goalkeeper Front.jpg|300px|thumb|center|Figure 2: CAD render TURTLE Goalkeeper front view]]<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_8-Wheeled_BaseTURTLE 8-Wheeled Base2020-03-25T07:38:19Z<p>Whoutman: Created page with "{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey..."</p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE Goalkeeper|Goalkeeper]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
<br />
__TOC__<br />
<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2020. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_Ball_Handling_and_Kicking_MechanismTURTLE Ball Handling and Kicking Mechanism2020-03-25T07:34:13Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
__TOC__<br />
<br />
<br />
= Part Summary = <br />
The ball handling and kicking mechanism, toghether with it's supporting frame, provide most of the functionality to handle, dribble, pass and shoot the ball. <br><br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
= Overview =<br />
The assembly and partial exploded view of the ball handling and kicking mechanisms, together with supporting frame and corresponding electronics, are depicted in Figure 1 and Figure 2 repsectively.<br />
<br />
[[Image:TURTLE_Ball_handlingkicking.jpg|500px|thumb|center|Figure 1: The ball handling and kicking mechanism together with electronics]]<br />
<br />
[[Image:TURTLE_Ball_handlingkicking_EV.jpg|500px|thumb|center|Figure 2: An exploded view of the ball handling and kicking mechanism]]<br />
<br />
Figure 1 visualizes the assembled ball handling and kicking mechanism together with the corresponding frame and some additional electronics. This assembly is made in an exploded view in Figure 2, in which some components will be explained in more detail in the following sections. <br><br />
<br />
The visualized components are listed down below and will be discussed in more detail. <br><br />
1. The ball handling and kicking frame; <br><br />
2. The wireless antenna from RF Solutions (315 MHz); <br><br />
3. The Beckhoff Ethercat module; Containing EK1100, EL1008, EL2008 EL3102, EL4038, EL5101 and ELl9011; <br><br />
4. The capacitor mechanism (450 V; 4700 µF) in order to have a power reserve for the coil of the kicking; <br><br />
5. The laser range finder (Hokuyo UTM-30LX) Currently not used on the field players due to the disturbances. <br><br />
6. The ball holders from the ball handling mechanism; <br><br />
7. The ball receivers of the ball handling mechanism;<br><br />
8. The plunger; <br><br />
9. The kicking mechanism; <br><br />
10. The kicking actuator. <br><br />
<br />
= Mechanics =<br />
== The ball handling and kicking frame with hinges ==<br />
<br />
[[Image:TURTLE_ball_handlingkicking_frame.jpg|500px|thumb|center|Figure 3: Exploded view of the ball handling and kicking frame]]<br />
<br />
<br />
First the frame will be discussed ( (1) in Figure 2) that contains most of the ball handling and kicking components. A more detailed exploded view is visualized in Figure 3. <br><br />
The frame consist of two side plates (1) and (2) from AL51-ST. On top of the right plate (1), two Elmex Violin 5/60 amplifiers (9) are assembled for the ball handling and kicking mechanism. The two plates are connected using three connecting blocks (3). In between two of these blocks, a Maxon Motor RE 25 (20W, 18V) with a GP 32 C planetary gearhead with 18:1 reduction and a HEDL - 5540 Encoder with 500CPT and Line driver RS 442 (4) is clamped. On the axis of the motor, a reel is fitted which is supported on the end using a Permaglide PAF06080P10 bearing. A cable is assembled on the reel and is first guided around bushing (5), which is fitted on an axis with Permaglide bearings. Then the cable is guided across the second reel (6), which is fitted on an axis with Permaglide bearings, which can slide in two slotted holes and is connected to the pre-loading unit (7). A pre-loading unit (7) pre-loads the cable by using three tension springs. <br><br />
Finally the cable is connected to the hinges of the kicking mechanism, which will be discussed later on, in order to vary between a straight shot and a lob shot. The kicking mechanism is assembled using a shaft between two rubbers (8). <br><br />
<br />
== The Capacitor ==<br />
<br />
[[Image:TURTLE_Capacitor.jpg|500px|thumb|center|Figure 4: The capacitor with mounting frame]]<br />
<br />
The capacitor (450 V, 4700 µF) is assembled on the back of the ball handling and kicking frame. In Figure 4 the capacitor (1) is visualized together with the upper en lower plastic (PVC) plates for safetey reasons (2). These are connected and tensioned using 4 M3 x 150 threaded rods and some rivets (DIN 125) and nuts (ISO 4032). <br><br />
Finally, this structure is connected to the frame with threaded holes (5). <br><br />
Note that it takes 15 seconds after a shot before the capacitor is fully loaded again; Before this time, less power is reserved for a shot.<br />
<br />
== The Ball Holders ==<br />
<br />
[[Image:TURTLE_Ball_holder.jpg|500px|thumb|center|Figure 5: Exploded view of the ball holders]]<br />
<br />
The ball holders are used to position/dock the ball together with the ball receivers. Moreover, a brake can be actuated to brake the ball during a scrum. <br><br />
<br><br />
In Figure 5 a more detailed view of the ball holders is visible, in which an (1) Kornylak Transweel omniwheel (which is a simplified representation of the wheel) is connected to a hollow shaft(2) using a gusset. This axis rotates inside SKF 61900 ball bearings, which are retained in position by circlips (2 x DIN 6799 8 and 2 x DIN 6799 10). <br><br />
Inside the hollow shaft (2), a splined shaft (3) can be found which is connected to the housing (7) and a solenoid (type 312) in order to brake the omniwheels during a scrum by pulling it to the side. <br><br />
Everything is bolted together using (9) M3 x 8 Allen nuts (ISO 4762).<br />
<br />
== The Ball Receivers ==<br />
<br />
[[Image:TURTLE_ball_receiver.jpg|500px|thumb|center|Figure 6: Exploded view of the ball receivers]]<br />
<br />
The two ball receiver consist of actuated tyres which can 'drive' the ball. In this way, the ball can be pulled against the robot in order to 'dock' the ball before shooting (pulling it against the bottom ball holders), drive backwards, steer and even rotate around it's axis without losing the ball. <br><br />
<br><br />
<br />
The ball receiver, with a more detailed view in Figure 6, consists of a leg (1) from Aluminum-6061.<br />
This leg is connected using a shaft (2) and Permaglide PAF06080P bearings (3) to the base, which enables a single rotation around a line. <br><br />
On the top side it is connected to the damper (discussed in the next section) using a shaft (4) from hardened steel, assembled with two circlips (DIN 6799-5). <br><br />
The wheel that makes connection with the ball (5) consists of a tire on a rim, which on one side is connected with the leg (1) using a brass bushing (6), working as a bearing. On the other side a ABS bearing (8) is used to support the wheel axis (7) from CrNIMo. <br><br />
A plate (9), again from Aluminum-6061, supports the bearings and is bolted on to the leg (1). On top of this plate, the Gysin (GSR012-1-05-1) 5:1 gearbox (11) is connected, in which a Maxon Motor RE 25 (20W, 24V) with DC- Tacho DCT 22 0.52 V encoder iis assembled. Finally the housing is closed using a cover plate (12) from ''St. 37-2.''<br />
<br />
== The Plunger ==<br />
<br />
[[Image:TURTLE_Plunger.jpg|500px|thumb|center|Figure 7: Exploded view of the plunger]]<br />
<br />
The plunger that is used to kick the ball is shown in a more detailed view in Figure 7. It consists of a steel 52-3 shaft (1) that can be accelerated by the kicking coil, which will be discussed in the next section. The plunger unit (3) from Dural (7075-T6) is connected to the shaft (1) using a threaded rod (3), also from St. 52-3. Using a dowel pin (4) (ISO 8734 A) and two Derlin endplugs (5), the plunger is connected to the kicking mechanism. <br><br />
On the other side, the steel shaft is fitted with an end stop (6), holding two rubber pushblocks (7) and a DIN 125 washer (8) in place together with the M12 nut (9) (ISO 4032).<br />
<br />
== The Kicking Actuator ==<br />
<br />
[[Image:TURTLE_Kicking_actuator.jpg|500px|thumb|center|Figure 8: Exploded view of the kicking coil]]<br />
<br />
<br />
Figure 8 visualizes the assembly of the kicking actuator. It consist of an plastic PVC core (1), on which a copper coil is winded orthocyclic with N = 1050 turns. It is then sealed using a St. 37-2 tube (3) and two St. 37-2 flanges. Two Permaglide (PAF25115P10) rings (5) are used to fit the core (1) and coil (2) on the flanges (4), which are then bolted together using M3 x 8 Allen bolts (ISO 4762). On the back of the kicking coil, an extra protection tube (7) and protection flange (8) are mounted in order to protect the plunger and it surroundings from eachother. <br><br />
Note that the kicking actuator can obtain speeds of 11 m/s and accelerations of 1000 m/s without a load.<br />
<br />
== The Kicking Mechanism ==<br />
<br />
[[Image:TURTLE_Kicking_mechanism.jpg|500px|thumb|center|Figure 9: Exploded view of the kicking mechanism]]<br />
<br />
The kicking mechanism, actuated by the plunger, is in direct contact with the ball (at full power, it 'dissapears' 50 mm into the ball, before the ball takes off) and can be adjusted in height by adjusting the upper link with a cable to differentiate between a straight and a lob shot. <br><br />
<br><br />
The kicking mechanism, visualized in Figure 9 is assembled using a Dural (7075-T6) rod (1), which is connected to the plunger. An Aluminum 6061-AHC kicking pin is (2) is screwed on to the rod (1). <br><br />
The rod (1) rotates around the 34CrNiMo6 shaft (3), which is assembled in to the Aluminum-6061-AHC upper link (4) and fitted with an HEDL 5540 (500 CPT, 3 channel, with line driver RS 422) encoder (5). The shaft (3) is fitted with two Permaglide (PAF06040P10) (6) bushings. <br><br />
On the other side, the upper link (4) is connected to the ball handling and kicking frame using a longer 34CrNiMo6 shaft (7) with Permaglide (PAF06080P10) bushings (8) and two Delrin rings (9). All shafts are retained against sliding by circlips (DIN 6799). <br><br />
<br />
= Electronics =<br />
<br />
'''Beckhoff EtherCAT Module''' <br><br />
<br />
EK1100 Ethercat coupler <br><br />
EL1008 8* digital in <br><br />
EL2008 8* digital out <br><br />
EL3102 2* analog in 10V 16 bit <br><br />
EL4038 8* analog out 10V 12 bit <br><br />
EL5101 Incremental encoder interface<br><br />
EL9011 E bushing <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_Upper_BodyTURTLE Upper Body2020-03-25T07:33:40Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
__TOC__<br />
<br />
<br />
= Part Summary = <br />
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. <br><br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
= Overview =<br />
Figures 1 and 2 visualize the front and back of the Upper Body CAD assembly.<br />
<br />
{| style="background: transparent; margin: auto;"<br />
| [[Image:TURTLE_Upper_Body.jpg|440px|thumb|center|Figure 1: Front of the upper body assembly]]<br />
| [[Image:TURTLE_Upper_Body_back.jpg|440px|thumb|center|Figure 2: Back of the upper body assembly]]<br />
|}<br />
<br />
<br />
= Mechanics =<br />
== Upper Body Frame ==<br />
<br />
[[Image:TURTLE_Upper_Body_Mech_Assembled.jpg|500px|thumb|center|Figure 3: The upper body frame assembled]]<br />
<br />
[[Image:TURTLE_Upper_Body_Mech_EV.jpg|500px|thumb|center|Figure 4: The upper body frame exploded view]]<br />
<br />
<br />
Figures 3 and 4 visualize the mechanical upper body frame of the Turtle without electronics. <br><br />
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). <br><br />
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. <br><br />
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). <br><br />
<br />
== Vision Tube with Omnivision Camera ==<br />
<br />
<br />
{| style="background: transparent; margin: auto;"<br />
| [[Image:TURTLE_Vision_Tube.jpg|440px|thumb|center|Figure 5: The vision tube with omnivision camera]]<br />
| [[Image:TURTLE_Vision_Tube_EV.jpg|440px|thumb|center|Figure 6: Exploded view of the vision tube with omnivision camera]]<br />
|}<br />
<br />
Figures 5 and 6 visualize the vision tube with omnivision camera in an assembly and an exploded view. <br><br />
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. <br><br />
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.<br />
<br />
== The front camera and other electronics on the upper body ==<br />
<br />
[[Image:TURTLE_Upper_Body_extra_components.jpg|500px|thumb|center|Figure 7: Partial exploded view of the upper body with front camera, computer and switches]]<br />
<br />
A partial exploded view with all the components that are not yet discussed are visible in Figure 7. <br><br />
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. <br><br />
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! <br><br />
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). <br><br />
Finally, switches (8) are assembled on the switches panel ( (6) in Figures 3 and 4) to complete the upper body structure.<br />
<br />
= Electronics =<br />
<br />
=== Omnivision ===<br />
<br />
'''Prosilica GC750C''' <br><br />
Interface: IEEE 802.3 1000baseT <br><br />
Resolution: 752 x 480 <br><br />
Sensor: Micron/Aptina MT9V022 <br><br />
Sensor type: CMOS Progressive <br><br />
Sensor size: Type 1/3 <br><br />
Cell size: 6 µm <br><br />
Lens mount: CS <br><br />
Max frame rate at full resolution: 60 fps <br><br />
A/D: 10 bit <br><br />
On-board FIFO: 16 MB <br><br />
Power requirements (DC): 5-16 V <br><br />
Power consumption (12 V): 2.2 W <br><br />
Mass: 85 g <br><br />
Body Dimensions (L x W x H in mm): 45x46x33 <br><br />
<br />
<br />
'''Lens''' <br><br />
Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens <br><br />
2.8 mm focal length; 1:1.2 CS (iris range)<br />
<br />
=== Front camera (currently not used on the field players) ===<br />
<br />
'''Model: VC-4458''' <br><br />
Resolution: 640 x 480 <br><br />
Sensor: 1/3" CCD <br><br />
Frame rate: 242 fps <br><br />
Shutter: 5µs - 2.2s <br><br />
Processor: TI 1 GHz <br><br />
Computational Power 8000 MIPS <br><br />
Digital I/Os 4 inputs, 4 outputs <br> <br />
Video output: RS232 and 100Mbit Ethernet <br><br />
Dimensions: Approx. 110 x 80 x 35 mm, <br><br />
Weight: approx. 500 g <br><br />
<br />
=== Computer ===<br />
<br />
'''Industrial Beckhoff PC C6920-0010''' <br><br />
<br />
Intel® Core2™ Duo 2.0 GHz (TC3: 70) <br><br />
3½-inch motherboard <br><br />
1 Mini PCI slot free for cards installed ex factory <br><br />
2 GB DDR2RAM, expandable ex factory to 3 GB <br><br />
on-board graphic adapter, Intel® GMA950, DVI-I connector <br><br />
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br><br />
8 GB Flash drive <br><br />
disk, 2½-inch, 40 GB <br><br />
1 serial port RS232 and 4 USB 2.0 ports <br><br />
24 V DC power supply <br> <br />
weight of 1.9 kg (4.2 lbs) <br><br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutmanhttps://roboticopenplatform.org/wiki/TURTLE_BaseTURTLE Base2020-03-25T07:33:26Z<p>Whoutman: </p>
<hr />
<div>{| style="width:300px" border="0" align="right"<br />
|-<br />
| style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links'''<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e]<br />
|-<br />
| 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]<br />
|-<br />
| style="background:white; color:black;" align="left" | rop@tue.nl<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/ Inventor]<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/STEP Step]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/Electrical%20Drawings/ PDF]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''Software'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [http://robocup.wtb.tue.nl/svn/techunited/ Software]<br />
|-<br />
| style="background:LightGrey; color:black; font-size:115%" align="left" | '''License'''<br />
|-<br />
| style="background:white; color:black;" align="left" | [https://robotics.wtb.tue.nl/svn/rop/TURTLE/License/ License Files]<br />
|-<br />
|}<br />
[[TURTLE|TURTLE]]: [[TURTLE Base|Base]] | [[TURTLE Upper Body|Upper Body]] | [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] | [[TURTLE 8-Wheeled Base|8-Wheeled Base]]<br />
<br />
<br />
__TOC__<br />
<br />
<br />
= Part Summary = <br />
The base acts as the support structure for the TURTLE. It provides a stiff foundation to transfer all forces on the robot to the ground and simultaniously provide space for important hardware like the Beckhoff Ethercat stack, Batteries, High Voltage Supply, Motors, Amplifiers and other electronic devices.<br />
<br />
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e]<br />
* License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1]<br />
* Repository: [https://robotics.wtb.tue.nl/svn/rop/TURTLE https://robotics.wtb.tue.nl/svn/rop/TURTLE]<br />
* Software: [http://robocup.wtb.tue.nl/svn/techunited/ http://robocup.wtb.tue.nl/svn/techunited/]<br />
<br />
<br />
= Overview =<br />
Figure 1 shows the CAD model of the fully assembled base.<br />
[[Image:Base_illustration.jpg|500px|thumb|center|Figure 1: Assembled Base of TURTLE]]<br />
<br />
<br />
= Mechanics =<br />
=== Base ===<br />
<br />
[[Image:Turtle_Base_mechanical.jpg|500px|thumb|center|Figure 2: The base plate with mechanical parts of the Turtle]]<br />
<br />
<br />
Figure 2 shows the mechanical base frame of the Turtle without electronics. Some components which are found symmetrical in the design are only visualized on one side, in order to give a better view of the design. <br><br />
The base plate (1) is a milled aluminum (Dural 7075-T6) part and is the main component of the base frame. This base plate consists of a bottom plate with a thickness of 5 mm and raised edges with a height of 25 mm at the perimeter of the plate. On top of this base plate, three plates (AL-51ST) are assembled with bolts which make the connection to the upper body. One of these is the back plate (2) and two of them are side plates (3). <br><br />
Three wheel protectors (4 and 5) from Dural 7075-T6 are bolted to the raised edges. One wheel protector (5) is different in order to also protect the laser range finder which will be discussed in the section ‘Ball handling and kicking mechanism’. On the outer perimeter, a strip of impact rubber (6) is assembles in order to cope with impacts during a match. <br><br />
An extra protection plate (7) is assembled to the back plate (2) in order to protect the electric wiring, originating from the EtherCAT stack, from getting stuck in the rear omniwheel. <br><br />
Blocks (8) of AL51-ST are used to clamp the batteries to the base plate, together with six steel M3 x 20 Allen bolts for every battery. <br><br />
On top of both side plates (3), damper holders (9), again from AL51-ST, are mounted together with shafts from 34CrNiMo6 steel in order to hold the dampers for the ball handling system. In these damper holders, M5 threaded rods are screwed to make the connection to the upper body of the Turtle. <br><br />
Furthermore, a connection block with rubber base blocks (10) is assembled on the base plate to make a connection with the ball handling mechanism. <br><br />
Finally, two ball holders (11) are assembled on the front of the base plate, which is already part of the ball handling mechanism. The ball holders will be discussed in the [[TURTLE Ball Handling and Kicking Mechanism|Ball Handling and Kicking Mechanism]] section.<br />
<br />
== Electronic Components Mounted on the Base Frame ==<br />
<br />
[[Image:Turtle_Base_electrical.jpg|500px|thumb|center|Figure 3: The electrical components on the Base frame]]<br />
<br />
Figure 3 shows the positioning of the electronic components that are mounted on the base frame. More information about the electronic components and PCB's will be given in the electronics chapter. The mounted components are: <br><br />
<br />
1. 2 x Makita Ni-MH (BH2433) batteries. <br><br />
2. 3 x Elmec Violin 25/60 Amplifiers; 1 x Elmec Violin 5/60 Amplifier (hanging) <br><br />
3. 3x Maxon Motor RE40 12 V 150 W motors with GP 42 C 12:1 planetary gearhead and HEDS 5540 encoders. <br><br />
The maxon motors are clamped on the base plate using a motor mount block and two M5 x 35 Allen nuts (ISO 4762). The wheel is a simplified representation of the real omniwheel, that will be discussed in the next section. <br><br />
4. 2 x Battery connector <br><br />
5. 2 x Battery PCB (see electronics section for more details) <br><br />
6. DC–DC PCB (see electronics section for more details) <br><br />
7. Power supply PCB (see electronics section for more details) <br><br />
8. EtherCAT stack <br><br />
9. Shooting PCB (see electronics section for more details)<br><br />
10. High voltage unit <br><br />
11. PCB high voltage unit <br><br />
12. Potentiometer for angle measurement of ball receivers: Vishay 971-0002 Rotary position sensor, 5 kOhm <br><br />
<br />
== Omniwheels ==<br />
<br />
{| style="background: transparent; margin: auto;"<br />
| [[Image:TURTLE_Omniwheel.jpg|440px|thumb|center|Figure 4: Omniwheel assembly]]<br />
| [[Image:TURTLE_Omniwheel_EV.jpg|440px|thumb|center|Figure 5: Exploded view of the omniwheel assembly]]<br />
|}<br />
<br />
Currently, custom made omniwheels are used on the Turtles. The assembly and exploded view are depicted in Figures 4 and 5 respectively. <br> The inner ring (1) from aluminum is used to support two rings of each eight rollers (2). Each ring of rollers (2) is held together using two aluminum rings (3). The left ring of rollers in Figure 5 is bolted with BS 4618 Hexagon sockets (5) on the inner ring (1), while the right ring of rollers is bolted with BS 4618 Hexagon sockets (5) on the aluminum outer ring (4). The total omniwheel is assembled by bolting the outer ring (4) to the innner ring (1) using ISO 4762 M3 x 16 Allen bolts (6). <br><br />
One smaller roller is fitted with three O-rings; two 16 mm inner diameter O-rings on the outside and one 17 mm inner diameter O-ring in the middle. Two needle roller bearings (INA HK0609) are placed inside each roller on a 6 x 32 mm shaft to ensure smooth rolling. At the start and the end of the shaft, 12 x 6 mm shims with a thickness of 0.5 mm are used as spacers.<br />
<br />
= License =<br />
Copyright Eindhoven University of Technology 2012. <br><br />
<br><br />
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br><br />
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br><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.</div>Whoutman