Embedded Files
Drawings
Mechanical drawings of components that were manufactured or modified in-house are included below.
Lengths and locations of 80/20 pieces used in the frame
Front foot mount made from aluminum angle
Angle brackets made from aluminum angle
Leadscrew dimensions
Custom DC motor - Mecanum wheel coupling
Schematics
Power distribution system block diagram
PDB Schematic
Software Flowcharts
Communication between the high and low level architectures
Full climbing/descending state machine
Datasheets
Links to key components used in the design:
DC Motors: https://www.dfrobot.com/product-634.html
Mecanum wheels: https://www.dfrobot.com/product-2270.html
IMU: https://wiki.dfrobot.com/10_DOF_Mems_IMU_Sensor_V2.0_SKU__SEN0140
Stepper Motors: https://www.linengineering.com/products/stepper-motors/hybrid-stepper-motors/211-series/211-20-02/WO-211-20-02
TMC2209 Stepper Motor Drivers: https://www.utmel.com/components/how-to-interface-tmc2209-stepper-driver-with-microcontroller?id=903
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