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Design Project Sung-mok Seo Ok-nam Lee Yoon-ho Na Su-min Park Seoul National University of Technology 1

Toy gun/DSP

Aluminum Body Mass=0. 7189 kg

Motor RS-226 DC: 4. 8~7. 2 V Speed: 0. 20 s/60 degree Torque: 26 kg*cm Weight: 60 g Size: 41*20*38 mm Seoul National University of Technology 4

Components & Weight 12 Motors : 60 g*12=720 g n 2 Motors : 60*2=120 g n Battery : Less than 800 g n Camera : Generally 100~150 g n Toy gun : 390 g n DSP board : 100 g n Aluminum 2 T-5052 : Less than 800 g n Other parts : 100 g n Seoul National University of Technology 5

Modeling

Torque calculation n Total weight for the body : 2 Motors+Battery+Camera+DSP+Al+Parts 120+800+150+390+100+800 +100 < 2. 5 kg n Body Size - 20 cm*20 cm

Torque calculation 2. 5 kg Total Torque = Weight*Distance = 2. 5 kg*19 cm = 47. 5 kg*cm 20 cm In case of movement, only two legs put on ground. Therefore, torque for one leg in that case. . Total Torque/2=47. 5/2=23. 75 kg*cm RS-226 torque is 26 > 23. 75

To make frames CNC machine Size : 600 * 700 * 80 mm Materials : Plastic, Al, Acryl Accuracy : 0. 05 mm

Control Part We’ve… - Studied the motor(RX-28) - Understood a C language example provided - Studied circuits : Power supply, Switch circuit , communication circuit - bought circuit stuffs

Control Part We will… - buy RS-226 motors - study how to control servo motor

Q&A Thank you Seoul National University of Technology 12