Fall 2016 Velociraptor (W): Requirements

/in , /by

By: Gifty Sackey (Mission, System and Test Engineer)

Approved by:

– Lam Nguyen (Project Manager)

– James Lee (Division Manager for Mission, System and Test)

Level 1 Requirements

  1. The 3rd generation Velociraptor (W) budget shall not cost more than $102. This estimate is based upon the customer and project team agreement on October 7th, 2016
  1. The 3rd generation Velociraptor (W) biped robot shall demonstrate its capabilities during EE 400D Final for Wednesday on December 14, 2016 according to the CSULB Calendar 2016-2017 Final at 9:00 am.
  1. The 3rd Generation Velociraptor (W) should resemble a Velociraptor of the Theropodous Dinosaur Suborder. [1]
  1. The 3rd Generation Velociraptor (W) will use a 3DoT board embedded system.
  1. The DC motor can support the mass of the robot with a 50% margin
  2. The 3rd generation Velociraptor shall operate for a minimum of one hour with an external power resource minimum of 1560 mA-Hours.
  1. The 3rd Generation Velociraptor (W) shall use an external PCB with an I2C interface as the 3DoT board.
  1. The velociraptor shall use a 3DoT board library and utilize I2C to communicate with sensors, A/D converter, and GPIO. [4]

Level 2

  1. The 3rd generation Velociraptor shall weight no more than 350 grams
  2. The 3rd Generation Velociraptor (W) shall turn 0-360 degrees on one leg under one minute
  3. The 3rd generation Velociraptor (W) shall create custom commands to be used with the Arxterra Control Panel
  4. The velociraptor shall use the IMU MPU6050 that tracks acceleration and gyration that can provide X and Y angles to +/- 6.5 degree precision
  5. The velociraptor shall use a rotary sensor that tracks at 90 degrees’ precision to determine the position of leg. The leg position controls the head and tail location
  6. The velociraptor shall support the mass of the robot with a 50% margin, 522g in a 0 degree position (Footstep is down on the ground)
  7. The velociraptor shall support the mass of the robot with a 50% margin, 522g in a 90 degree position (Center of foot path on ground)
  8. The velociraptor shall support the mass of the robot with a 50% margin, 522g in a 180 degree position (Time before foot goes to ground)
  9. The velociraptor shall control the head and tail movement with a single servo using gear trains
  10. The head and tail shall use one servo that operates at an optimal torque of 18-45mN-m to maintain center of gravity
  11. The CoG on the axis of the H/T shall be controlled by one servo while being placed over the foot
  12. The velociraptor will not exceed a rating of 1A with the use of the LDO with the external PCB
  13. The velociraptor shall utilize custom telemetry commands that will be displayed on the Arxterra Control Panel
  14. The 3rd generation velociraptor shall walk on a flat surface
  15. The 3rd generation velociraptor shall walk on a surface texture
  16. The 3rd generation velociraptor shall walk on an incline and decline surface
  17. The 3rd generation velociraptor should perform dynamic walking while on a flat surface
  18. The 3rd generation velociraptor should perform dynamic walking while on a surface texture
  19. The 3rd generation velociraptor should perform dynamic walking while on an incline and decline.
  20. The 3rd generation velociraptor should perform dynamic walking while on a step

Resources

[1]  http://www.mokonut.com/app/com.bkminegames.b005/dinosaur-mods-for-minecraft/