Die approbierte Originalversion dieser Dissertation ist in der Hauptbibliothek der Technischen Universität Wien aufgestellt und zugänglich. http://www.ub.tuwien.ac.at The approved original version of this thesis is available at the main library of the Vienna University of Technology. http://www.ub.tuwien.ac.at/eng Dissertation: Design of the upper body of a Cost Oriented Humanoid Robot ausgeführt zum Zwecke der Erlangung des akademischen Grades eines Doktors der technischen Wissenschaften unter der Leitung von em.o.Univ.Prof. Dipl.-Ing. Dr.tech. Dr.h.c.mult. Peter Kopacek E325/A6 Institut für Mechanik und Mechatronik eingereicht an der Technischen Universität Wien Fakultät für Maschinenwesen und Betriebswissenschaften von MSc ABEDIN SUTAJ Matrikelnummer 1225037 Wien, July 2017 1 Acknowledgment “Wisdom begins in wonder’’ Socrates Acknowledgment and thanks are deservedly dedicated to my supervisor, Professor Peter Kopacek, for the support he has provided me in the course of studies, with his advice, knowledge and information from many fields of science. Professor’s deep knowledge was a useful source at all times for me, his high level human behaviour will remain an inspiration and memory for me in my whole life. I thank my mother. I thank people of Austria whom I have met, I got to know and saw them, a wonderful people. 2 Table of Contents Acknowledgment ...................................................................................................................... 2 Table of Contents ..................................................................................................................... 3 Table of Figures ........................................................................................................................ 8 List of Tables ........................................................................................................................... 10 Kurzfassung............................................................................................................................. 11 Abstract .................................................................................................................................... 12 Problem formulation ............................................................................................................... 13 Overview .................................................................................................................................. 14 1 System information ................................................................................................ 15 1.1 Introduction .................................................................................................................. 15 1.2 Hardware and software.............................................................................................. 16 1.3 ELMO Controllers ....................................................................................................... 17 1.4 Information System .................................................................................................... 18 1.5 CAN BUS ..................................................................................................................... 18 1.6 Communication in CAN open ................................................................................... 20 1.7 Brushed DC Motors .................................................................................................... 21 1.8 Features of BDC Motor .............................................................................................. 23 1.9 BLDC Motor ................................................................................................................. 23 1.10 Summary ...................................................................................................................... 26 2 Interface ................................................................................................................ 27 2.1 Introduction .................................................................................................................. 27 2.2 CAN converter ............................................................................................................. 27 2.2.1 Architecture of I-7565 ......................................................................................... 30 2.2.2 Hardware connection I-7565 ............................................................................. 31 2.3 Specifications for CAN bus ....................................................................................... 32 2.4 Organization of interface ........................................................................................... 33 2.4.1 Interface CAN bus .............................................................................................. 34 2.4.2 Software Utility I-7565 ........................................................................................ 35 2.5 Connectors .................................................................................................................. 36 2.6 Summary ...................................................................................................................... 37 3 Vision system architecture ..................................................................................... 38 3 3.1 Introduction .................................................................................................................. 38 3.2 Vision sensor ............................................................................................................... 38 3.3 The hardware architecture ........................................................................................ 41 3.4 The software architecture .......................................................................................... 43 3.5 Visual Perception ........................................................................................................ 45 3.6 Summary ...................................................................................................................... 46 4 Preliminary calculations ......................................................................................... 47 4.1 Introduction .................................................................................................................. 47 4.2 A brief history of robot ................................................................................................ 47 4.3 Data Sheet 7020 Aluminium ..................................................................................... 50 4.4 AutoCAD Software for Design .................................................................................. 50 4.5 Dimensions of the design .......................................................................................... 50 4.6 Some design specifics ............................................................................................... 51 4.7 Design of Head ........................................................................................................... 52 4.8 Clarification .................................................................................................................. 52 4.9 Summary ...................................................................................................................... 53 5 Design of first prototype ......................................................................................... 54 5.1 Introduction .................................................................................................................. 54 5.2 Neck of V1 ................................................................................................................... 54 5.3 Upper limbs of V1 ....................................................................................................... 57 5.3.1 The part holding the shoulders ......................................................................... 57 5.4 Shoulder of V1 ............................................................................................................ 58 5.5 Arm of V1 ..................................................................................................................... 60 5.6 DOF Configuration of V1 ........................................................................................... 62 5.7 Marking of links ........................................................................................................... 63 5.8 Centre of mass ............................................................................................................ 64 5.9 Summary ...................................................................................................................... 66 6 Design of second prototype ................................................................................... 67 6.1 Introduction .................................................................................................................. 67 6.2 Neck/head of V2 ......................................................................................................... 69 6.3 Shoulder of V2 ............................................................................................................ 71 6.4 Arm of V2 ..................................................................................................................... 72 4 6.5 Marking links of V2 ....................................................................................................