Breakthrough of Trinamic chip in Ai robot field
The omni platform is powered by four Kuka all-wheel drives,Using the Mecanum principle,Through the independent controllable servo drive,No mechanical steering,Can achieve omni-directional motion.The arm can manipulate loads of up to 0.5 kg from any position in three dimensions.To support education and research,Youbot's mechanical structure and decentralized servo controller drive concept are similar to the "bigger" kuka robot.Distributed axis controllers are connected via a real-time bus,This is done in the same way as manufacturing robots.The standard hand is a gripper with two "fingers,"Both fingers are independently positioned and driven by stepper motors.Since the communication protocol of the hand is publicly recorded,Users can also develop their own grippers or tools.All drives (4 platform drives,5 arm drives, 2 stepper motors)All controlled by an Ethernet real-time communication bus,The technology is now being used in kuka's industrial robots.The kuka-youbot driver protocol is open source,Users are encouraged to develop their own applications and control systems.Users can use the API(application programming interface)Converts the required motion into the control command of a single motor.
At the heart of Youbot is a commercial Intel Atom PC，Dual core CPU, 2 GB ITX format RAM, 32 GB SSD,Various USB and Ethernet ports and wireless networking devices.The PC runs the real-time Linux kernel for a simple open Ethernet host (SOEM).Using predefined locations provided via WLAN or Ethernet as input,PC to calculate the torque of each axis,Speed or position command,And deal with their interpolation respectively.Instructions are sent to both motherboards via the ethercat bus,These two motherboards implement the ethercat to ebus gateway.The axis controller is connected via the ethercat backplane bus ebus.Each of the 9 axis controllers has its own servo controller and field-oriented control.In addition to positioning,The shaft controller also implements some safety features,For example, the emergency stop feature when a connection breaks.Real-time feedback and evaluation of relevant axis parameter data,Data such as speed, current, position, input instructions, and various diagnostic and safety functions.The gripper that controls the "hand" is bound to the last shaft controller on the arm by uart,And is handled as the second axis of the controller.In a standard gripper,The jaw is operated by two stepper motors.
Using Trinamic patented Stallguard2? Technology,No sensor is required to monitor gripper load.The charging controller represents central power management.When the charger (200w) is connected,The power controller provides separate charging control for two maintenance-free lead-acid batteries (24v, 5ah).If the charger is not connected,The two batteries will last up to 90 minutes.Robots can be operated using connected power supplies and batteries.In addition, the power controller provides separate switching power for the PC and the motor.The battery current is monitored through the board.The user can operate the device with a button and a two-line display. Therefore, there is no need for external control of the PC.