project specification

Enik Robot

EnekEnik robot is a quadrupedal robot designed for contribute to both students and researchers studies about the code information in a practical way. At the same time, this robot is a useful prototype to develop larger four-legged robot. 12 AX 12-A Dynamixel smart servo motor used in this robot. This project can help to improve both researchers and students’ code ability. Students and researchers are able to add gyro sensor for balance ,or distance sensor for control the robot more safely. 12V power supply used for energy but any lipo battery(11.1 V) can not be used because OpenCM 485 Expansion board have a lipo socket.

Specifications

Length375 mm
Width270 mm
Height295 mm
Weight684 g (3d parts)
788,2 g (electronic parts)
Total1472.2 g
BoardOpenCM 9.04-C Microcontroller
Motor driverOpenCM 485 Expansion board
Motor12 A Dynamixel smart servo motor
SoftwareRobotis IDE, RoboPlus+
Power11.1 V Lipo battery or Power Supply

Overview

This project can help to improve both researchers and students’ code ability. Students and researchers are able to add gyro sensor for balance ,or distance sensor for control the robot more safely. 12V power supply used for energy but any lipo battery(11.1 V) can not be used because OpenCM 485 Expansion board have a lipo socket.

In this Project, robot communicated with directly on computer with USB cable. Command send in COM port screen but OpenCM 9.04-C microcontroller have a RX TX communication socket so any wireless module can be use for communicate to the Enik such as HC-06 Bluetooth module.

Mechanical Desing

All parts are designed in Solidworks 2015. Robot has 14 parts and 5 different type. Each part has a servo hub but servo hubs designed just for Dynamixel smart servo motors. However,anyone can change the design for their own electronic system via using open source. All parts created in 3d printer and used PLA filaments.

Electronics

The system have 1 motor driver, 1 microcontroller, 12 servo motor and 1 of power supply. Expension
board have 3 different type socket. Lipo, SMPS DC adapter and Dynamixel pro power so robot can be
feeded lipo battery in the lipo socked. Cable communication used in this Project.

References

#D files needed to replicate the robotics project.

https://www.thingiverse.com