TURTLE
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== Computer == | == Computer == | ||
− | Industrial Beckhoff PC C6920-0010 | + | |
+ | '''Industrial Beckhoff PC C6920-0010''' <br> | ||
+ | |||
+ | Intel® Core™ Duo 2.0 GHz (TC3: 70) <br> | ||
+ | 3½-inch motherboard <br> | ||
+ | 1 Mini PCI slot free for cards installed ex factory <br> | ||
+ | 1 GB DDR2RAM, expandable ex factory to 3 GB <br> | ||
+ | on-board graphic adapter, Intel® GMA950, DVI-I connector <br> | ||
+ | on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector <br> | ||
+ | hard disk, 2½-inch, 80 GB <br> | ||
+ | 1 serial port RS232 and 4 USB 2.0 ports <br> | ||
+ | 24 V DC power supply <br> | ||
+ | weight of 1.9 kg (4.2 lbs) <br> | ||
== Communication == | == Communication == |
Revision as of 19:30, 18 September 2012
Robot Links |
Author |
TU/e |
CST Group, TU/e |
rop@tue.nl |
CAD Files |
(Coming Soon) |
Electronic Drawings |
(Coming Soon) |
License |
License Files |
TURTLE: Base | Upper Body | Ball Handling and Kicking Mechanism
Contents |
EVERYTHING IS STILL UNDER CONSTRUCTION, THERE MIGHT STILL BE SOME INCORRECT INFORMATION ON THE SITE
Robot Summary
TURTLEs are the football robots that compete in the RoboCup Mid-Size League for Eindhoven University of Technology.
- Author: CST Group, TU/e
- License: CERN OHL v.1.1
- Repository: (Coming Soon)
- Software: www.ros.org (Coming Soon)
Overview
TURTLE is an acronym for Tech United Robocup Team: Limited Edition.
The robocup team basically consist of a total of 5 players, including one keeper. Since 2010, the keeper has a different design. However, the TURTLE field players can be used as a keeper with minor adjustments. The field players will be discussed in the following sections.
In order to do this, the mechanical design of the TURTLE, visible in Figure 2, is divided into three parts that will be discussed in more detail separately:
1. The base
2. The upper body
3. The ball handling and kicking mechanism
Specifications
Construction
• Dimensions (HxWxD): 782.5 x 485 x 520 mm
• Weight: +/- 37 kg
Electrical
2 times Makita Ni-MH (BH2433) batteries
• Type: Ni-MH
• Size: (HxWxD) 86.82 x 96.72 x 120.48 mm (one battery)
• Weight: 1,473 kg (one battery)
• Capacity: 3.3 Ah
• Voltage: 24 V
• Autonomy: 15 min (active use); 30 min (normal use)
Motor Specifications
Drive motors
• 3x Maxon RE40 12 V 150 W (when used with24 V, up to 230 W in use)
• 3x Maxon Planetary gearhead GP 42 C 12:1
• 3x Maxon Encoder: HEDS 5540
Ball handling motors
Ball receivers
• 2x Maxon RE 25 24 V 20 W
• 2x Maxon FP 32 C Planetary gearhead
• 2x Gysin GSR012-1-05-1 %:1 gearbox
• 2x Maxon Encoder: HEDS 5540
Ball kicking hinge
• 1x Maxon RE 25 24 V 18 W
• 1x Maxon FP 32 C Planetary gearhead
• 1x Maxon Encoder: HEDS 5540
Amplifiers
Drive amplifiers
3x Elmec Violin 25/60 Amplifiers
Ball handling and kicking mechanism
3x Elmec Violin 5/60 Amplifiers
Computer
Industrial Beckhoff PC C6920-0010
Intel® Core™ Duo 2.0 GHz (TC3: 70)
3½-inch motherboard
1 Mini PCI slot free for cards installed ex factory
1 GB DDR2RAM, expandable ex factory to 3 GB
on-board graphic adapter, Intel® GMA950, DVI-I connector
on-board dual Ethernet adapter with 1 x 10/100BASE-T and 1 x 10/100/1000BASE-T connector
hard disk, 2½-inch, 80 GB
1 serial port RS232 and 4 USB 2.0 ports
24 V DC power supply
weight of 1.9 kg (4.2 lbs)
Communication
EtherCAT Beckhoff module
Vision
Omnivision
Prosilica GC750C
Interface: IEEE 802.3 1000baseT
Resolution: 752 x 480
Sensor: Micron/Aptina MT9V022
Sensor type: CMOS Progressive
Sensor size: Type 1/3
Cell size: 6 µm
Lens mount: CS
Max frame rate at full resolution: 60 fps
A/D: 10 bit
On-board FIFO: 16 MB
Power requirements (DC): 5-16 V
Power consumption (12 V): 2.2 W
Mass: 85 g
Body Dimensions (L x W x H in mm): 45x46x33
Lens
Pentax-Cosmicar C70214(TS212A) Monofocal Manual Iris Lens
2.8 mm focal length; 1:1.2 CS (iris range)
===Front camera (currently not used) ===
Model VC-4458
Resolution 640 x 480
Sensor: 1/3" CCD
Frame rate: 242 fps
Shutter: 5µs - 2.2s
Processor: TI 1 GHz
Computational Power 8000 MIPS
Digital I/Os 4 inputs, 4 outputs
Video output: RS232 and 100Mbit Ethernet
Dimensions: Approx. 110 x 80 x 35 mm,
Weight: approx. 500 g
Laser Range Finder (Currently not used on the field players)
Hokuyo UTM-30LX
• Power: source 12V +/- 10%
• Current: consumption 0.7A (max. 1.0 A)
• Detection range: 0.1 to approx. 60m (<30m guaranteed)
• Laser wavelength: 870 nm, Class 1
• Scan angle: 270 degrees
• Scan time: 0.025 s/scan (40.0 Hz)
• Angular resolution: 0.25 degrees
• Interface: USB 2.0 with trigger port
• Weight: 0.233 kg
• Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm)
Capacitor
450 V; 4700 µF
Software
• Linux (Ubuntu 8.10)
Degrees of Freedom
Omni Directional Base
• Omniwheels: 3 driven
• Speed: 3.5 m/s in each direction
Video
License
Copyright Technische Universiteit Eindhoven 2012.
This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1.
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl).
This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions.