Assembling Humanoid Kit

Transcription

1 Assembling Humanoid Kit 13 June 2009/06/16 Kondo Kagaku., LTD 1

2 Introduction Kondo Kagaku has release a new assembling humanoid robot kit : KHR-3HV. Since 2004, Kondo Kagaku releases assembling robot kits during its yearly event : the KHR anniversary. They have conceived KHR-3HV, to make robotics more accessible to the public. From the beginners, to schools, and companies the robot will include teaching materials available for everybody. Comparison of the evolution KHR-3HV is bigger than its predecessors. It is the tallest version. Concretely, KHR-3HV rises above mm from KHR-1 and mm from KHR-2HV. However, the width is quite the same. In other word, KHR-3HV is taller but at the same time the external part is slimmer. 2

3 SPECS of KHR-3HV Content of the kit Light aluminium Frame ( treated with Alumite) Strengthened resin servo arm Bath tube sole Control board RCB-4HV Servo motor KRS-2552HV ICS Red Version x 17 ROBO Power Cell HV D Type 10.8V-800 mah Nickel hydride battery AC 100V charger MX-201 Serial USB adapter HS CD Rom of the manual and the software Other parts Software Compatible with OS/Windows XP SP2 and above and Windows Vista (recommend SP1) Microsoft.NET Framework 2.0 is necessary CPU/ Pentium 42 GHz and more 3

4 Used memory : 64MByte Hard-disk/ around 32 MByte CD-Rom driver (to install the software) USB port (1.1/2.0) Dimension (H) x (W) x 129 mm (D) Weight around 1500g 4

5 Hardware They have selected the best material. They have chosen aluminum and resin parts that fit the assembling. They use different materials from resin to ABS and polycarbonate for different utilizations. 5

6 KRS-2552HV They have developed new servos to implement into the external body of KHR-3HV. The size of the servo are smaller. However since they were expecting that the movement of the robot will be heavier, they seek to reinforce the torque. To support the torque, the strength of the resin gears was insufficient. Hence, all the servo motors in the kit are equipped with metal gears. KRS-2552HV ICS Red Version Set of 10 pcs Max. angle : 270 / Max Torque : 14kg*cm Dimension : 41x21x30.5 Weigh : 41.5g According to the dimensions, KRS-2552HV is the next generation of KRS-788HV. It is 9.00 mm smaller. In order to prevent the burden of wires, KRS-2553HV has a digi-chain which simplifies the connections. It is also compatible with ICS3.0 serial signal. Torque output is 14.0kg/cm, hence it is possible to drive a bigger robot with a large margin. The full metal gear are stronger and durable, it also reduces the power consumption. 6

7 RCB-4HV Controller RCB-4 A new control board has been developed in order to control the serial servo motors. 8 output ports for servos, 10 input analog ports enable a wide range of utilization. For the instructing functions, Kondo Kagaku has conceived original motion. HeartToHeart4, included with the kit, has been also refreshed. It has been equipped with new functions to manage easily a project. You can now organize each motion individually. Specs : Board size : 35x45x12 (WxHxD)mm / Weight : 11.8g / Working voltage : 9-12V / Internal voltage : 5V / CPU : M16C26A CLOCK : 20MHz / IO Connector / SIO : 8 ports / Input AD : 10 ( standard voltage 5V) 7

8 PIO : 10 (5V) EEPROM : 256kB (128kBx2) / COM Connection Terminal : 1 port (115200bps, 625kps, 1.25Mbps) SW Connection terminal : 1 port LED : 2 (red and green) Other connectors, electrical terminal : 1/ RESET: 1/ Terminal for supply current/ maximum current: 1A (Regular current. Recommend under 500mA). 8

9 High speed communication with ICS3.0 If you combine RCB-4HV and KRS-2552HV, it is possible to have a 1.25Mbp high communication speed. Since the communication is fast, you can get different feedbacks while playing a motion, it is possible to get the position of the servo motor. Advanced extension and various options Remote Control You can radio-control the robot thanks to KR1-3 and KRC-3 (sold separately) which replaces the receiver KRR-1 and the controller KRC-1. Expend to 22 DOF The basic kit includes 17 DOF but you can change the dummy servos by servo motors. In that case, since the weigh and the size will increase, it is necessary to edit slightly the motions that you have created. Sensors Since RCB-4HV includes many I/0 ports and AD input ports, you can freely add many sensors according to your wish. Kondo Kagaku all right reserved