TIGERBOT MECHANICAL DESIGN Kyle Backer EE Jeremy Jensen

TIGERBOT MECHANICAL DESIGN Kyle Backer (EE), Jeremy Jensen (ME), Matthew De. Capua (EE), Eric Walkama (ME), Mike Thomas (EE), Jonathan Cormier (CE), John Seybold (CE)

Overview 2 DOF in Head 4 DOF/Arm 1 DOF in Torso 6 DOF/ Leg

CHECKLIST Spec. # Importance Source Function Specification (metric) S 1 3 CN 9 F 1 -F 4, F 7 S 2 1 CN 10 F 1 -F 7 Carry 25% of own weight S 3 2 CN 11 F 5, F 6 DOF per arm S 4 3 CN 11 S 5 2 CN 11 F 4, F 1 S 6 3 CN 12 F 13 Head turn up/down -45 degress to 90 degrees S 7 3 CN 12 F 13 Head turn 90 degrees left/right S 8 2 CN 11 F 1 torso bends 90 degrees down S 9 2 CN 11 F 4 Torso turns 45% S 10 2 CN 11 F 1 -F 7 S 11 1 CN 13 20"-36" tall F 1, F 2, F 3 DOF per leg DOF Torso Human proportionality F 1 -F 3, F 5 Servos from the market

BODY DIMENSIONS ~25. 5” Tall (feet to shoulder) 10” Shoulder Width 2. 5” Torso Width

Custom Servo Brackets 4 Simple brackets for Side Mount multiple servo mounting orientations ◦ Side mount ◦ Bottom mount ◦ Large “C” bracket Bottom Mount Single plane dual axis rotation ◦ Shoulder Rotation Large “C” Shoulder Rotation

LINKS & BRACKET INTEGRATION Arm Assembly Simple Aluminum rods, ¼” Cut to length Height adjustability Very cheap (~$7 per 6 ft) Integrates into standard servo brackets. Custom Brackets Store bought Brackets Simple 6 -32 x 1/2” machine screws for assembly

HIP DESIGN Ball Bearing ◦ Axial and Radial -Green Rotation Loads -Gray Static ◦ Low rotation friction ◦ Ball Bearings are cheap Reduce stress on servo horn ◦ Increased hip Stiffness

TORQUE REQUIREMENTS Leg Lift Squat T 3 F Push up Te T 3 Te T 2 T 1 F/2

TORQUE RESULTS leg lift (1 leg) Torque at Hip Squat (2 leg) Ankle Knee MAX (lb-in) 14. 44402961 18. 74911 18. 73543 (oz-in) 231. 1044738 299. 9858 299. 7669 FS 2. 076982726 1. 600076 1. 601244 Elbow Torque F (lbs) 5. 118229269 in-lb 16. 53188054 oz-in 264. 5100886 FS 1. 837359031 ROBOARD SERVO SPECS • Standard size digital servo • Torque @7. 4 V: 35. 0 kg-cm/486. 0 oz-in • Speed: 0. 11 sec/60º • Voltage: 6 to 7. 4 V • Weight: 70 g weight (lbs) foot (ALL) 1. 4708 Lower Leg Links 0. 0415 Knee servo 0. 1543 Knee C-Bracket 0. 0300 Knee bottom Bracket 0. 0100 TOTAL KNEE JOINT 0. 1943 Upper leg Links 0. 0377 Hip C-bracket 0. 0300 Hip servos 0. 4630 Hip Brackets 0. 0522 TOTAL HIP JOINT (1 side) 0. 5451 TOTAL ABOVE HIP (2 sides) 5. 6574 8. 2165 Hip plate 0. 1100 Hip components 0. 1500 Torso plate bottom 0. 1000 Torso plate top 0. 2100 Torso servo 0. 1543 Torso links 0. 6509 Other torso weight 1. 2000 Shoulder servos 0. 3086 shoulder brackets 0. 0522 upper arm C-bracket 0. 0300 Upper arm servo 0. 1543 upper arm links 0. 0188 upper arm brackets 0. 0500 elbow servo 0. 1543 lower arm C-bracket 0. 0300 lower arm links 0. 0377 lower arm bracket 0. 0100 Neck 0. 3000 TOTAL BODY 10. 2365 2. 5591

Stress Analysis Bottom Bracket

Stress Hip/Shoulder Bracket

Stress Analysis Elbow Bracket

Stress Analysis Leg Assembly

Deformation Leg Assembly

Mechanical System Risks Breaking on fall ◦ Easily and cheaply replaceable frame Insufficient torque ◦ Adjustable height Wire routing ◦ Open skeleton design, adjustable chest volume Boards shorting ◦ Large board spacing, easy addition of insulation layer in chest

Mechanical BOM Mechanical Part Name Manufacturer Part # Distributor Part # Web Location Quantity Needed Unit Price Total Price Status Comments 21 $73. 60 $1, 545. 60 already ordered 2 1 $35. 99 10 $12. 90 $64. 50 2 per pack, already ordered 1 pack 1 $6. 08 6' lengths 1 $15. 01 6' lengths Roboard Rs-1270 servos Roboard RS-1270 Robot Shop RB-Boa-12 http: //www. robotshop. com/productinfo. aspx ? pc=RB-Boa 12&lang=en-US Lynxmotion Pan and Tilt Kit / Aluminium Lynxmotion BPT-KT Robot Shop RB-Lyn-74 http: //www. robotshop. com/productinfo. aspx ? pc=RB-Lyn 74&lang=en-US Lynxmotion Aluminum "C" Servo Bracket with Ball Bearings Two Pack ASB-09 Lynxmotion ASB-09 Robot Shop Multipurpose Aluminum (Alloy 6061) 1/4" Diameter X 6' Length Mc. Master 8974 K 31 Multipurpose Aluminum (Alloy 6061) 1/2" Diameter X 6' Length Mc. Master 8974 K 33 Electric Panel Round Nut Zinc-Plated Steel, 5/8"-27 NS, 3/4" OD, 1/8" H Mc. Master 91843 A 123 http: //www. mcmaster. com/#electrical-panel -and-conduit-fittingsnuts/=g 4 e 9 p 4 1 $2. 63 Multipurpose Aluminum (Alloy 6061). 080" Thick, 6" X 48" Mc. Master 89015 K 83 http: //www. mcmaster. com/#standardaluminumsheets/=g 4 ehep 1 $30. 64 feet and brackets Steel Ball Bearing Flanged Open for 5/8" Shaft Dia, 1 -1/2" OD, 31/64" W Mc. Master 6383 K 247 http: //www. mcmaster. com/#standard-balland-rollerbearings/=g 4 eoxi 1 $7. 84 Multipurpose Aluminum (Alloy 6061). 125" Thick, 12" X 12" Mc. Master 89015 K 18 http: //www. mcmaster. com/#standardaluminumsheets/=g 4 ehep 1 $28. 02 top and bottom of torso Machine Screws (632 x 1/2) Mc. Master 91772 A 148 http: //www. mcmaster. com/#machine-screw -fasteners/=g 4 eqg 2 1 $5. 14 pack of 100 Ball Bearing with Flange - 3 mm ID (pair) Lynxmotion Robot Shop RB-Lyn-317 http: //www. robotshop. com/productinfo. aspx ? pc=RB-Lyn 317&lang=en-US 3 $4. 95 $14. 85 2/pack, for custom brackets Multipurpose Aluminum (Alloy 6061). 080" Thick, 12" X 24" Mc. Master 89015 K 26 http: //www. mcmaster. com/#standardaluminumsheets/=g 4 euow 1 $33. 36 chest plates $1, 789. 66 Totals BB-03 89015 K 26 Mc. Master RB-Lyn-101 http: //www. robotshop. com/lynxmotionservo-bracket-asb-09 -3. html http: //www. mcmaster. com/#standardaluminumrods/=g 4 e 66 o http: //www. mcmaster. com/#standardaluminumrods/=g 4 e 7 wt