Oncilla - Hardware Overview
Oncilla - Hardware Overview
IMPORTANT: Before using any device, please check its power requirement. They can be found in the "part description":https://redmine.amarsi-project.eu/projects/quad/wiki/Oncilla_hardware_-_part_description.
Especially the powerboard input is *12V*.
The figure above gives a general overview of the hardware scheme. The bold lines show the power connections.
Part details can be found "here":https://redmine.amarsi-project.eu/projects/quad/wiki/Oncilla_hardware_-_part_description
| S0 | Servo motor connected to the RB 110 to control the L0 joints | |
| M1 | L1 motor | |
| M2 | L2 motor | |
| ME1 (Q1) | Magnetic encoder of L1 joint | |
| ME2 (Q2) | Magnetic encoder of L2 joint | |
| ME3 (Q3) | Magnetic encoder of L3 joint | |
| F_i | Load cell mounted in the body (separate for each leg) | |
All electronic devices communicate together with a rs-485 bus implementing the "sbcp":https://redmine.amarsi-project.eu/projects/quad/wiki/Oncilla_hardware_-_SBCP protocol.
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- Last Author
- tuleu
- Last Edited
- May 8 2018, 12:59