Velociraptor Generation #3
Verification of Head and Tail Servo
By: Kevin Armentrout, Electronics and Control Engineer Table of Contents Introduction For the head and tail servo, analysis was done using a method of current measurements and data sheet torque characteristics to linearize the torque parameters to determine the actual torque produced by the Head and Tail Servo. Methodology The most difficult part of the […]
Servo Selection
By: Electronics and Control – Kevin Armentrout Table of Contents Servo Selection Servo Selection Criteria Servo Selection was based off of two requirements: An accuracy for the servo that is within 1 degree of set-point values Able to produce torque that is sufficient to actuate the position the servo will be placed Head/Tail Servo Torque: […]
Motor Selection
By: Electronics and Control – Kevin Armentrout Table of Contents Motor Selection Motor Selection Criteria From our initial calculations in PDR, it was determined that a motor must be able to produce a minimum of 140 mN-m of torque to provide the necessary movement for the legs of the raptor. This requirement initially left us […]
IMU Selection
By: Electronics and Control – Kevin Armentrout Table of Contents IMU Selection IMU Selection Criteria IMU Selection was based off the requirement for angle accuracies to the Hundredth of a degree and the IMU must utilize I2C. For I2C IMUs this left us two option, the MPU 6050 and the LSM9DS1. The LSM9DS1 was the […]
Rotary Sensors and I2C D/A
By: Electronics and Control – Kevin Armentrout Table of Contents Rotary Sensors and I2C D/A Requirements The rotary sensors requirement is the derivation of the requirement for shaft position indication. Shaft position indication is needed as it roughly translates to leg position. This allows the raptor the position its leg to the desired spots for […]
Debugging Wire Library
By: Electronics and Control Engineer – Kevin Armentrout Table of Contents Debugging the Wire Library Problems with the Wire Library and the 3DoT library The wire library uses an inefficient system of transferring data via I2c which can be interrupted during serial communications. When this happens your 3DoT program, and any other Arduino program that […]
3DoT and IMU
By: Electronics and Control Engineer – Kevin Armentrout Table of Contents Testing 3DoT Libraries and 3Dot Board 3DoT Board Bypass Testing The purpose behind 3DoT board bypass was to allow for the connection of 3.3v Motors to the motor header. The bypass route identified was on the 3DoT board’s jumper header located on the back […]
2016 Fall Velociraptor: Preliminary Project Plan
Paul Ahumada – Project Manager Robert Licari – Systems Engineer Kevin Armentrout – Electronics and Control Engineer Victoria Osaji – Manufacturing Engineer Table of Contents Work Breakdown Structure By Paul Ahumada The WBS represents the job description tasks that members must fulfill. The three engineers are separated into their own divisions and handle their task […]
Fall 2016 Velociraptor (Th): Preliminary Design Document
Project Manager – Paul Ahumada Electronics and Control Engineer – Kevin Armentrout Manufacturer and Design Engineer – Victoria Osaji Systems Engineer – Robert Licari Table of Contents Program Objectives/Mission Profile By Paul Ahumada 3rd Generation Velociraptor is a robot developed by the CSULB 2016 Fall Semester class that will expand on previous semester’s designs. The […]
Fall 2016 Game: Save The Human
Gaming Committee Team Members: Velociraptor (Th) – Paul Ahumada Velociraptor (W) – Lam Nguyen Biped – Gifty Sackey Goliath – Kristen Oduca Table of Contents Overview: Biped has accidentally lost his way in the forest. Unbeknownst to Biped, Velociraptors lurk in the shadows. Biped must flee to the safe haven before the raptors get […]