Lyra Interchangable Toolhead

There are a couple of key features of our PCB:

• The center of the PCB supported by three "spokes" with a Wheatstone bridge of resistors on them, creating a 3-axis force/torque sensor

• Headers in the center attach to a breakout PCB, allowing us to attach servos, solenoids, heaters, thermistors, stepper motors, etc.

• Communicates over CAN bus, which the rest of our robot arm uses

• All fits into a 75mm diameter circle package

Layout

Bill of Materials

Schematic