Publication: Diseño de soportes y electrónica de conexionado del tórax del robot humanoide Teo
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2011-12
Defense date
2011-12-22
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Abstract
Los objetivos del proyecto son diseñar una estructura donde irán colocados los dispositivos que lleva el robot TEO en su cuerpo y diseñar varios circuitos impresos que conecten los dispositivos electrónicos de los brazos con los del cuerpo. Para llevar a cabo el diseño de la estructura, ha sido necesario un estudio previo de la estructura que compone el cuerpo del robot, obteniendo sus dimensiones y el espacio que se encuentra disponible para posicionar los distintos dispositivos electrónicos. Posteriormente, se han estudiado las dimensiones de los componentes y sus especificaciones para la óptima colocación de los mismos en el interior del robot. Después de conocer las dimensiones del cuerpo del robot y las dimensiones de sus componentes, se ha procedido al diseño de una estructura en la cual, se van a colocar estos componentes. La estructura se ha dividido en dos partes: una parte se acopla al pecho del robot y la otra a la espalda. Esta división facilita la tarea de fijar la estructura diseñada a la estructura del robot. En la estructura del pecho, van colocadas principalmente las CPUs y en la estructura de la espalda, van colocados la pila y los depósitos de hidrógeno del sistema de alimentación. Una vez implementada la estructura que soportará todos los componentes, se han diseñado los circuitos impresos necesarios para el conexionado entre los dispositivos de los brazos y los del cuerpo. Se han diseñado en base a las dimensiones del espacio disponible después de situar el resto de componentes. El conexionado se realiza mediante dos circuitos: el primero toma las señales del brazo y las lleva hasta el cuerpo, dejándolas más accesibles y el segundo conecta los dispositivos electrónicos, que están situados en el tórax, con el primer circuito. ___________________________________________________________________________________________________________
The project objectives are to design a framework where will be place the devices which lead the robot TEO in its body and to design some printed circuits that connect the electronic arms with the rest of the body. To realize the design of the framework, it has been necessary a previous study of the structure that compose the body of the robot, getting their dimensions and the space available to position the different electronic devices. After that, it has been studied the dimensions of the components and its specifications for the optimal placement of the same, inside the robot. After knowing the dimensions of robot's body and the dimensions of its components, we have proceeded to design a structure in which we're going to place these components. The structure has divided into two parts: one of them is attached to the robot's chest and the other one, on the back. This division facilitates the work of fixing the designed structure to the robot framework. In the structure of the chest are mainly placed CPUs and, in the back structure, are placed the stack and hydrogen tanks of feeding system. After implementing the structure that will support the different components, it has designed the printed circuits needed for the connection between arms and body. They have been designed according to the dimensions of the space available after placing the rest of the components. The connection is made through two circuits: the first: it gets the signals from the arm and leads it to the body, leaving them more accessible, and, the second, connects the electronics devices, which are placed in the chest, with the first circuit.
The project objectives are to design a framework where will be place the devices which lead the robot TEO in its body and to design some printed circuits that connect the electronic arms with the rest of the body. To realize the design of the framework, it has been necessary a previous study of the structure that compose the body of the robot, getting their dimensions and the space available to position the different electronic devices. After that, it has been studied the dimensions of the components and its specifications for the optimal placement of the same, inside the robot. After knowing the dimensions of robot's body and the dimensions of its components, we have proceeded to design a structure in which we're going to place these components. The structure has divided into two parts: one of them is attached to the robot's chest and the other one, on the back. This division facilitates the work of fixing the designed structure to the robot framework. In the structure of the chest are mainly placed CPUs and, in the back structure, are placed the stack and hydrogen tanks of feeding system. After implementing the structure that will support the different components, it has designed the printed circuits needed for the connection between arms and body. They have been designed according to the dimensions of the space available after placing the rest of the components. The connection is made through two circuits: the first: it gets the signals from the arm and leads it to the body, leaving them more accessible, and, the second, connects the electronics devices, which are placed in the chest, with the first circuit.
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Robótica, Robots humanoides, Circuitos electrónicos