https://mpt-internal.uni-hohenheim.de/ 2026-04-16T09:19:17+00:00 https://mpt-internal.uni-hohenheim.de/ https://mpt-internal.uni-hohenheim.de/lib/tpl/dokuwiki/images/favicon.ico text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:battery&rev=1628907690&do=diff Battery The battery on the Armadillo Scout is a 48 VDC (52.2 VDC) 160 Ah Lithium Yttrium batterypack consisting of 16 3.2 VDC batterycells. Supplyer: GWL/Power Overview Cells mounted on the robot <columns 100% first column attributes 50% second column attributes text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:beltmodule&rev=1628907690&do=diff Beltmodule The Traction is made of two beltdrive modules developed by Lynex. The reason the drivewheel(blue) is in the top of the belt and not in the front or in the back is because in this position stones cannot wegde in between the drivewheel and the belt, and thereby cause the belt to rupture. text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:bms&rev=1628907690&do=diff Battery Management System <task> TITLE: Diagram of BMS on Armadillo Scout PRIORITY: High ESTIMATE: 5 h PROGRESS: 0% ASSIGNED: ?? DESCRIPTION: Complete diagram of the BMS on the Armadillo Scout. Including plugs and connectors </task> Supplyer: GWL/Power Overview text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:controlpanel&rev=1628907690&do=diff Control Panel See Control Panel project idea text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:gearratio&rev=1628907690&do=diff Armadillo - Gear Ratio The gear ratio $R$ is inversely proportional to ratio of the number of teeth, $N_a$ and $N_b$, of the two gears. $$R=\frac{N_b}{N_a} $$ The beltmodules uses the same concept as shown in the picture below, from dynamicscience.com.au where the gear train of four gears are connected, and the gears text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:motorcontrollers&rev=1628907690&do=diff Motorcontrollers Configuration on the Armadillo Scout <note important>This is the configuration that we wish to implement</note> FIXME Update this to the rtq commands and values Closed Loop Speed mode P-gain: I-Gain: D-gain: max current 150A Closed loop mode not working text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:motors&rev=1628907690&do=diff Motor Two 3.5kW HPM-5000B Brushless DC motors with Hall sensors from www.goldenmotor.com text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:powersupply&rev=1628907690&do=diff Power Supply TEP 150-4812WI - 12VDC output TEP 150-4815WI - 24VDC output <http://www.traco-electronic.de/index.php?id=212> Datasheet text/html 2021-08-14T04:21:30+00:00 Anonymous (anonymous@undisclosed.example.com) https://mpt-internal.uni-hohenheim.de/doku.php?id=robots:armadillo:hardware:safety&rev=1628907690&do=diff Safety System Diagram <task> TITLE: Safety Diagram PRIORITY: Middle ESTIMATE: 3 h PROGRESS: 0% ASSIGNED: Claes DESCRIPTION: It is on the way </task> Components Wieland SNO4062K