Figure 1 shows the M08 robot and its
various
components. It is a four degree-of-freedom arm with two end
effecters: percussive poker and scoop (scoop not attached in Figure 1).
The arm is mounted on an aluminum frame with wheels for easy
mobility. The frame is also responsible for supporting the
avionics box (Shown below in Figure 2).
Figure 2 - 'M08' Avionics Box Components
The avionics box contains all the power and control for the motors on
the arm.
Contents include:
- Two
microcontrollers: BasicStamp Homework Board (Parallax) and
Rabbit 4100 (Rabbit
Semiconductor).
- Five
motor controllers: (3) HB-25 (Parallax), BLH-450
(Oriental Motor
Company), and B15A8 Brushless Servo Drive (Advanced Motion Control).
- Four
DC Power management boards: XP-08S (Oceanserver),
DC1HV (Oceanserver),
DC123S (Oceanserver),
and HD4RX wireless kill switch (Carl's
Electronics).
- 14.4V Li-Ion Smart Batteries (Oceanserver)
- Cooling fans
