Power connector

Power supply utilizes SP1310/S2I (power supply side - female) and SP1311/P2I (robot side - male) connectors from WEiPU. You can find the documentation of the connectors here LINK (robot wire stickers: USB wire stickerpower wire sticker).

  Power female connector Power male connectorPower connector

Power supply parameters:

  • 12V DC (min 10V, max. 14.8V),
  • 15A.

 

Wiring system overview

Complete EMYS wire harness consists of:

  • USB data connection beetwen the master PC controller and the on-board motion controller,
  • power supply cables,
  • daisy chain connection of all Dynxamiel servomotors and the on-board motion controller, 
  • connection between the on-board motion controller and motors driving joints q6 - q11,
  • connection between camera and the on-board motion controller,
  • connection between touch sensors and the on-board motion controller,
  • synchronization connection between the servomotors driving joint q1.

The complete harness is shown in Fig. 1. For clarity purposes, all the figures that follow will show only specific parts of the cable harness.

wiring overview
Fig. 1 Wiring system overview.

 

Wiring system: USB, power, Dynamixel daisy chain

Neck mounting (part no. 40009486) is where main harness (in electrical braid), containing the USB data and main power supply, branches. Fig. 2 shows how the main harness is located in relation to the neck mounting. As it is shown in Fig. 3, power supply connects via a 4-pin Molex micro spox connector to the Dynamixel daisy chain connection. The other two cables inside the neck junction are connected to the head pitch servo and head yaw servo. Additionally, the daisy chain connection goes from the head pitch servo to the bottom disc servo and then, along with the USB data cable, to the middle disc inside the support tube (part no. 40009497).

 

neck
Fig. 2 Main conduit location.

 

neck
Fig. 3 Neck junction.

 

As it is shown in Fig. 4, the daisy chain connection from the bottom disc servo (along with USB cable) connects to the on-board motion controller, situated in the middle disc. The daisy chain connection then goes from the motion controller to the top disc servo via the support tube. Notice that the USB cable is connected to the motion controller, where it is connected to a USB-RS485 converter, whose output is connected to the Dynamixel bus. This means that the external controller, as well as the on-board controller, are connected to the Dynamixel daisy chain.

head
Fig. 4 Daisy chain connection - upper end.

 

Fig. 5 shows the lower end of the daisy chain connection. Cables from the head yaw servo go to the slave neck pitch servo. The daisy chain connection then continues, along with the 3-wire synchronization cable, to the master neck servo. For clarity, a view from underneath the robot is presented in Fig. 6.

 

head
Fig. 5 Daisy chain connection - lower end.

 

head
Fig. 6 Daisy chain connection - lower end (bottom view).

 

The Dynamixel daisy chain begins at the master neck pitch servo at the bottom and extends up to the top disc servo with both controllers in the middle. To ensure signal integrity, the bus is terminated on both sides with 120 ohm terminating resistors, inserted into a Molex spox connector. This is shown in Fig. 7

termination
Fig. 7 Daisy chain termination

 

Wiring system: eye drive

Cable harness for the eye rotation and eyelid servos is shown in Fig. 8. The harness is connected to the controller and then goes to the eye rotation servo with sufficient slack to enable the carriage to move forward during eye protrusion. The harness for the eyelid servo then goes through the eye support (part no. 40009484) to connect with the eyelid servo inside the eyeball.

head
Fig. 8 Eyelid and eye rotation servos connection.

 

Eye protrusion motors are connected directly to the motion controller as shown in Fig. 9.

 

head
Fig. 9 Eye protrusion motors connection.

 

Wiring system: camera and touch sensors connection

The harness for both the camera and front touch sensor goes through the support tube directly to the front of the robot. Side touch sensor wires go from the motion controller towards the back of the middle disc and then along the disc sides to the touch sensing electrodes. Wires going to the top and bottom touch sensors are routed inside the support tube. Camera and touch sensors connection is shown in Fig. 10.

head
Fig. 10 Sensor connections.

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.9.1, 15.05.2017

FLASH Documentation