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Introduction

This repository contains the drawings, electronics schematics, firmware and building instructions for a (almost) completely 3D printed robotic actuator. The actuator is based in a 36 stator poles and 42 rotor/magnetic poles BLCD, whose output is attached to a 6:1 planetary gearbox.

Views:

Fig 1. Perspective View Fig 2. Front View
Fig 3. Top View Fig 4. Side View

Bill of Materials

side

|Part Number | Part | Part Description | Quantity| ---------------|----------|---- -----------------------|------------| |1 | 30x5 mm steel pin |Steel pins to improve torque transmsion| 3| |2 |61810-2RS| 50 x 65 x 7 mm ball bearing | 2| |3 |608-2RS| 8 x 22 x 7 mm ball bearing| 2| |4 |61802-2RS | 15 x 24 x 5 mm ball bearing| 2| |5 |625-2RS1-SKF| 5 x 16 x 5 mm ball bearing| 6| |6 |Rotor Magnet| 10 x 4 x R51.5 mm curved neodymium magnet| 42| |8 |M3 screw | Torx flat head 10 mm screw| 3| |9 |M3 screw| Torx flat head 14 mm screw| 6| |10 |M3 screw | Torx flat head 20 mm screw| 3| |11 |10010 stator| 100mm x 78 mmx 10mm, 36 slots, steel stator| 1|

: Bill of materials

Controller

controller_front controller_back

No. Quantity Comment Designator Footprint Value Manufacturer Part Manufacturer Supplier Part Supplier
1 16 10uF C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14,C15,C16 C1206 CL31A106KBHNNNE SAMSUNG C13585 LCSC
2 5 4.7uF C17,C18,C19,C20,C23 C0805 CS2012X7R475K350NRE SamwhaCapacitor C560882 LCSC
3 1 10nF C21 C0603 CT41G-0603-2X1-50V-0.01uF-K(N) TORCH C136131 LCSC
4 2 10uF C22,C37 CAP-TH_BD5.0-P2.00-D0.8-FD 10uF50V5*7 ValuePro C45669 LCSC
5 3 100nF C24,C25,C26 C0805 CL21F104ZBCNNNC SAMSUNG C1760 LCSC
6 1 10nF C27 C0402 CL05B103KB5NNNC SAMSUNG C15195 LCSC
7 1 1uF C28 C0603 CL10A105KB8NNNC SAMSUNG C15849 LCSC
8 1 22nF C29 C0603 CL10B223KB8NNNC SAMSUNG C21122 LCSC
9 1 100nF C30 C1206 CL31B104KCFNNNE SAMSUNG C1945 LCSC
10 3 470nF C31,C32,C33 C0805 GRM21BR71C474KA01L MurataElectronics C408143 LCSC
11 1 100nF C34 C0603 GRM188R71H104KA93D MuRata C77055 LCSC
12 1 100nF C35 C0603 GRM188R71E104KA01D MuRata C77050 LCSC
13 1 10uF C36 C1210 CL32B106KAJNNNE SAMSUNG C39232 LCSC
14 2 22pF C38,C39 C0805 CL21C220JBANNNC SAMSUNG C1804 LCSC
15 1 SIP2-2.54MM双排针 HDR1 HDR-TH_2P-P2.54-V-M-R2-C1-S2.54 SIP2-2.54mm双排针 null C9900003705 LCSC
16 1 NC5MAV PS1 CONN-TH_NC5MAV NC5MAV NEUTRIK(优曲克) C368510 LCSC
17 6 IRF7470TRPBF Q1,Q2,Q3,Q4,Q5,Q6 SO-8_L4.9-W3.9-P1.27-LS5.9-BL IRF7470TRPBF InfineonTechnologies C386356 LCSC
18 1 0 R1 R0603 ERJ-3GEY0R00V PANASONIC C122704 LCSC
19 6 2.2 R2,R3,R4,R5,R6,R7 R0603 RC0603FR-072R2L YAGEO C112307 LCSC
20 6 0.03 R8,R9,R10,R11,R12,R13 R2512 MRF6432(2512)LR030FTS SUP C76247 LCSC
21 3 10 R14,R15,R16 R0603 ERJ-3EKF10R0V PANASONIC C193335 LCSC
22 1 10K R17 R0402 RMC10K103FTH KAMAYA C323692 LCSC
23 1 STM32F411CEU6 U1 UFQFPN-48_L7.0-W7.0-P0.50-BL-EP STM32F411CEU6 STMicroelectronics C60420 LCSC
24 1 TMC6200-TA U2 TQFP-48_L7.0-W7.0-P0.50-LS9.0-BL-EP TMC6200-TA TRINAMICMotionControlGmbH C915798 LCSC
25 1 MCP2515T-I/SO U3 SOIC-18_L11.6-W7.5-P1.27-LS10.3-BL MCP2515T-I/SO MICROCHIP C153782 LCSC
26 1 AS5048A-HTSP U4 TSSOP-14_L5.0-W4.4-P0.65-LS6.4-BL AS5048A-HTSP 美国AMS C2153638 LCSC
27 3 SEW_HOLE U5,V1,W1 SIMPLE_HOLE
28 1 LD1086DT33TR U6 TO-252-2_L6.5-W6.1-P4.58-LS10.0-TL LD1086DT33TR STMicroelectronics C12051 LCSC
29 1 32.768KHz X1 FC-135R_L3.2-W1.5 Q13FC1350000400 EPSON C32346 LCSC
30 1 25MHz X2 HC-49US_L11.5-W4.5-P4.88 XIHCELNANF-25MHZ TAITIENElec C295079 LCSC
31 1 10MHz X3 HC-49-SMD_L12.0-W4.8 HC-49SM10MHz20pF30ppm ZhejiangAbelElec C150559 LCSC

Firmware

The firmaware is developed with the Arduino IDE for the STM32 boards. It implements the Finite State Machine shown in the Fig 1, where (X) indicates state number and [X] the transition number. For the low level motion control the firmaware use the Field Oriented Control (FOC) algorithm for Arduino SimpleFOC The following dependencies required:

Fig 1. Finite Sate Machine of the actuator.

CAN Protocol

Frame Signal Bit Position Bit Length Scale Offset Units Notes
0x001
  • 0
  • 16
  • 32
  • 16
  • 16
  • 16
  • 0.125
  • 0.125
  • 0.125
  • 0
  • 0
  • 0
  • -
  • -
  • -
  • P value for the PID position control
  • I value for the PID position control
  • D value for the PID position control
0x002
  • 0
  • 16
  • 32
  • 48
  • 16
  • 16
  • 16
  • 16
  • 0.125
  • 0.125
  • 0.125
  • 0.125
  • 0
  • 0
  • 0
  • 0
  • -
  • -
  • -
  • rad/s
  • P value for the PID speed control
  • I value for the PID speed control
  • D value for the PID speed control
  • Speed limit
0x003
  • 0
  • 16
  • 32
  • 48
  • 16
  • 16
  • 16
  • 16
  • 0.125
  • 0.125
  • 1
  • 0.125
  • 0
  • 0
  • 0
  • -4095
  • V
  • V
  • -
  • rad
  • Voltage limit for motor input
  • Voltage limit for aling in calibration
  • Calibration (1 skip, o calibrate)
  • Electric angle offset
0x004
  • 0
  • 16
  • 32
  • 48
  • 16
  • 16
  • 16
  • 16
  • 0.125
  • 0.125
  • 1
  • 0.125
  • -4095
  • -4095
  • -4095
  • -4095
  • V
  • V
  • I
  • rad
  • Ua component of voltage input
  • Ub component of voltage input
  • Current drawn by motor
  • Electric angle
0x005
  • 0
  • 16
  • 32
  • 16
  • 16
  • 16
  • 0.125
  • 0.125
  • 0.125
  • -4095
  • -4095
  • -4095
  • rad
  • rad
  • rad/s
  • Current mechanical angle
  • Mechanical angle setponit
  • Shaft speed
0x006
  • 0
  • 16
  • 1
  • 0
  • -
  • Finite State Machine transition
0x007
  • 0
  • 16
  • 0.125
  • -4095
  • rad
  • Motor set point command

DRIVERS

Custom Python and ROS drivers are available for the device.

Buildin Instructions