System design
- Jürgen Baier
In this page, we explain how pib stand-alone arm product works, its components integrate and how it combines as a system
What is pib stand-alone arm?
As needed by some of our customers, simpler smaller parts of pib are created to be able to function on their own providing customers with simpler assembly experience and lower price
System
pib stand-alone arm consists of pib’s hand and forearm connected to a central piece including central rotator assembly, thus giving the arm 8 DOFs. These parts are fixed to a 3 part stand to be placed on a desk like pib’s stand-alone head. The motors are controlled by TinkerForge servo bricklet which is controlled by tinkerforge hat brick which is in turn controlled by RaspberryPi. The arm is powered by E14 power supply used in pib and power is distributed using E13-SPL-82.
Levels of control
├── Raspberry Pi
│ ├── Tinker Forge Hat brick
│ │ ├── ServoBrickletV2
│ │ │ ├── Servo motors
System abilities
Joint control via Cerebra allowing playful motion of hand and wrist
Fixed gestures like a thumbs up or victory sign
Hand imitation if connected to Oak d lite
Power consumption
Using https://pib-rocks.atlassian.net/wiki/spaces/PM/pages/41615361 as a reference here is the detailed power consumption of the arm
| Current range | Power range |
|---|---|---|
1 finger | 100 - 200 mA | 0.75 - 1.5 W |
1 Thumb (2 parts) | 200 - 400 mA | 1.5 - 3 W |
Total for hand | 0.8 - 1.2 A | 4.5 - 9 W |
Wrist | 200 - 300 mA | 1.5 - 2.25 W |
1 central rotator | 300 - 500 mA | 2.25 - 4.5 W |
Total for 1 arm | 1.3 - 2.3 A | 8.25 - 15.75 W |
Input from power supply | 6 A | 45W |