Triskar2 - Revision history

GiulioFontana: /* Mechanics */

2014-03-20T16:24:46Z

‎Mechanics

2014-02-05T17:54:59Z

‎Operating Instructions

2014-02-05T17:50:21Z

‎Power supplies

2013-03-08T10:10:00Z

‎Computing

2013-02-15T18:17:57Z

‎The controllers

2013-02-15T15:48:06Z

‎Power supplies

2013-02-15T15:47:35Z

‎Operating Instructions

2013-02-15T15:46:41Z

‎Power supplies

2013-02-15T15:41:06Z

‎Computing

2013-02-15T15:06:30Z

@@ Line 22: / Line 22: @@
 * a [http://www.maxonmotor.com/ Maxon] motor+transmission+encoder combination (code #220251, composed of: #118798 DC motor mod. RE36, graphite brushes, 70W, ball bearings, 2 shafts; #166158 2-stage planetary gearhead, 2.25Nm, ball bearings; #110513 [http://www.velmex.com/pdf/other/data%20for%20HEDS%20rotary%20encoder.pdf HEDS 5540 encoder by HP], 500 impulses/turn);
 * two [http://www.koyo.eu/en/ Koyo] model UP000 small pillow block bearings (many thanks to the Italian distributor [http://www.mci-componenti.it/ MCI] for helping us in getting these!);
-* an omnidirectional 100mm wheel (model #14054, with hub #18009 for 10mm shaft) made by [http://www.opteq.nl/Shop/ Opteq];
+* an omnidirectional 100mm wheel (Opteq model #14054, with hub #18009 for 10mm shaft: i.e., [http://probotics.eu/Wielen/omniwielen/14054-omni-wiel-100mm-dubbel-alu-met-kogelgelagerde-rollen this one]
 * a short wheel shaft (aluminium, 10mm diameter);
 * an elastic joint (#0.0.628.83, made by [http://www.item24.com/ Item]), used to connect the transmission shaft to the wheel shaft to reduce transmission of mechanical stresses.

@@ Line 61: / Line 61: @@
 To connect to the onboard PC, the usual way is to turn on the AIRLab wireless network, login on it, then go for
-ssh -X triskar@192.168.1.10
+ssh -X airlab@triskar1
-and log on the machine.
+and log on the machine with the usual password (ask for it).
 Once done that, one may run

@@ Line 41: / Line 41: @@
 === Power supplies ===
-Triskar2 uses a 24V DC power supply based on a couple of 12V sealed lead-acid batteries connected in series.
+Triskar2 uses a 24V DC power supply based on a couple of 12V sealed lead-acid batteries connected in series. They have to be connected to the Y cable with the black terminals.
-The onboard PC requires 19V DC, which are generated by a configurable board (model DCDC-USB) by [http://www.mini-box.com/DCDC-USB Mini-Box].
+The onboard PC requires 19V DC, which are generated from 24 V by a configurable board (model DCDC-USB) by [http://www.mini-box.com/DCDC-USB Mini-Box].
 === Operating Instructions ===

← Older revision		Revision as of 10:10, 8 March 2013
Line 37:		Line 37:

	All the software of Triskar2 has been developed by AIRLab, and is modular in its structure to allow easy modification.		All the software of Triskar2 has been developed by AIRLab, and is modular in its structure to allow easy modification.
		+
		+	Instructions to get the onboard wifi adapter working with linux: http://rricketts.com/installing-ralink-rt3290-wireless-drivers-in-ubuntu-12-04/

	=== Power supplies ===		=== Power supplies ===

← Older revision		Revision as of 18:17, 15 February 2013
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	=== The controllers ===		=== The controllers ===
−	To tune the controllers we have found [https://controls.engin.umich.edu/wiki/index.php/PIDTuningClassical this page] very useful.	+	To tune the controllers we have found [https://controls.engin.umich.edu/wiki/index.php/PIDTuningClassical this page] and [https://controls.engin.umich.edu/wiki/index.php/PIDDownsides this page] very useful.

← Older revision		Revision as of 15:48, 15 February 2013
Line 42:		Line 42:

	The onboard PC requires 19V DC, which are generated by a configurable board (model DCDC-USB) by [http://www.mini-box.com/DCDC-USB Mini-Box].		The onboard PC requires 19V DC, which are generated by a configurable board (model DCDC-USB) by [http://www.mini-box.com/DCDC-USB Mini-Box].
−
−	~~All the power is turned on with the yellow button below the PC. In case of need the PC plug can be powered also with its standard power supply connected to a 220V plug.~~

	=== Operating Instructions ===		=== Operating Instructions ===

@@ Line 47: / Line 47: @@
 === Operating Instructions ===
-With batteries charged and connected to the main connector, Triskar 2 is nergetically autonomous.
+With batteries charged and connected to the main connector, Triskar 2 is energetically autonomous.
-When programming it, if there is no need to run it, you may securely lift the wheels and work with the PC powered by its own power supply, so saving batteries (which are anyhow needed to power the electronics and the engines.
+When programming it, if there is no need to run it, you may securely lift the wheels and work with the PC powered by its own power supply, so saving batteries (which are anyhow needed to power the electronics and the engines).
 To turn power on, you should press the yellow button below the PC.

← Older revision		Revision as of 15:46, 15 February 2013
Line 42:		Line 42:

	The onboard PC requires 19V DC, which are generated by a configurable board (model DCDC-USB) by [http://www.mini-box.com/DCDC-USB Mini-Box].		The onboard PC requires 19V DC, which are generated by a configurable board (model DCDC-USB) by [http://www.mini-box.com/DCDC-USB Mini-Box].
		+
		+	All the power is turned on with the yellow button below the PC. In case of need the PC plug can be powered also with its standard power supply connected to a 220V plug.

	=== Operating Instructions ===		=== Operating Instructions ===

@@ Line 32: / Line 32: @@
 === Computing ===
-The first instance of Triskar2 robot is fitted with a small-form-factor PC by [http://www.zotac.com/ Zotac]: model ID82, based on an Intel Core i3 2330M dual-core processor. The PC is mounted on a quick-release tray.
+The first instance of Triskar2 robot is fitted with a small-form-factor PC by [http://www.zotac.com/ Zotac]: model ID82, based on an Intel Core i3 2330M dual-core processor. The PC is mounted on a quick-release tray.  Check the elastic band to keep it fixed.
-Operating system is Linux. All the software of Triskar2 has been developed by AIRLab, and is modular in its structure to allow easy modification.
+Operating system is Linux. before turning off the power, press the PC button to obtain a nice shutdown.
 === Power supplies ===

← Older revision		Revision as of 15:06, 15 February 2013
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	When the robot moves straight forward, 1 cm of displacement is about 785 ticks of each of the two frontal motors.		When the robot moves straight forward, 1 cm of displacement is about 785 ticks of each of the two frontal motors.
		+
		+	=== The controllers ===
		+	To tune the controllers we have found [https://controls.engin.umich.edu/wiki/index.php/PIDTuningClassical this page] very useful.