ATRIAS 2.1 Handbook

ATRIAS 2.1 is the third physical realization of the ATRIAS concept of an actuated spring mass walking, running and jumping bipedal robot. ATRIAS 2.1 is designed for un-tethered, 3D walking and running over unpredictable, rough terrain while maintaining a reasonably high energy economy. Future work with this robot will be to develop and demonstrate these goals and further scientific knowledge in the field of legged locomotion.

Contents

General InformationEdit

1. How to use this WikiBooks
2. Location of Parts
3. Operating Instructions
4. Suppliers and Manufacturers
5. Cost of Transport Definition

Technical SpecificationsEdit

1. Solid Model Specifications
2. Motors
3. Encoders
4. IMU
5. Springs Considerations
6. Toe Cell

Servicing InformationEdit

1. Service Data
2. Cleaning
3. Loctite Procedure
4. Torque Specifications
5. Special Tools
6. Wiring Harness Routing

DisassemblyEdit

1. Four-Bar Assembly
2. Drive Assembly
3. Torso Assembly
4. Boom Assembly

AssemblyEdit

1. Four-Bar Assembly
2. Drive Assembly
3. Torso Assembly
4. Boom Assembly

ElectricalEdit

1. Wiring Diagram
2. Medulla Board
3. Menial Board
4. DC-DC Converter Board
5. AMC Amplifier Breakout Board
6. Strain Gauge Digitizer Board

Trouble ShootingEdit

1. Motors
2. Encoders
3. Amplifiers
4. Electrical