Frame and Smart Wall
- motor specs 133 rpm, 10 Nm (safety factor 1.5)
- mass (m) < 5 lbs max per link
- link length (L): 12'' < L < 18''
- nominal parameters: a = 0.55, b = 0.28 (a * L is the distance from the elbow joint to the center of mass and b = I/(m*L^2), where I is moment of inertia about center of mass); other options are shown in the plot below. The red dot is the nominal point.
- magnet tangential holding force > 40 lbf (note that manufacturers list normal holding force)
- 14- or 16-cell 18650 Lithium-based batteries: > 15 A continuous discharge, > 1 Ah capacity (optional: > 3 A continuous charge)
###Machined Components
| Part Number | Name | Raw Material | Raw Material Price | Quantity |
|---|---|---|---|---|
| Link 1 | 2x 2" x 4" x 2' ABS | $98.50 | 1 | |
| Link 2 | 2x 2" x 4" x 2' ABS | $98.50 | 1 | |
| Magnet mount 1 | 3" DIA x 6" | $31.89 | 1 | |
| Magnet mount 2 | 3" DIA x 6" | $31.89 | 1 | |
| Magnet encoder shaft | 2x 5/8" DIA x 6" | $2.51 | 2 | |
| Delrin + rubber assembly | 2 | |||
| * Neoprene | $23.38 | 1 | ||
| * Delrin Rod | ||||
| Bridge | 1 | |||
| Motor encoder shaft | 1 |
###Purchased Components
-
Maxon EC 60 Flat motor Wiring:
- Hall Effect Sensors (Blue Stripe - 5V - GND - H1 - H2 - H3)
- Motor Power (Red = A, Black = B, White = C)
- Sun Gear S10T05M020S0508 and Moon Gears S10T05M050S0508 require a 0.9 mm hex wrench
- 3-48 Thread, 1/8" Long Cup Point Set Screw in encoder assembly requires 0.050" Hex Key
- Main assembly file: Gibbot_Assm.sldasm. All other parts can be accessed from this assembly file.
- Inertia_calcs has all the specs of the current version of the Gibbot.
