Hardware

Dexter Hardware

Hardware includes:

• 3D printed parts
• NEMA 17 Stepper Motors
• Harmonic or Wave drives
• Steel shafts and bearings
• Carbon fiber strakes and tubes
• Motor driver / interface PCB
• Xilinx based microzed processor board Schematic Rev F
• micro SD card
• Wiring harness
• End effector tool interface

Many different end effectors will be developed for Dexter, and they will be documented in the End effector list.

Dexter has 5 joints in the base model, and the v2 Tool Interface adds 2 more for a total of 7.

#	FPGA	Connector	Human / Description	Slots	Eye Rotation*
1	1	Base	Shoulder rotate	200	Counter
2	3?**	Pivot	Shoulder lift	180	Counter
3	2?	End	Elbow. Pwr set by R65/66	157	Counter
4	4	Angle	Wrist. Differential combination:	115	Counter
5	5	Rotate	DiffA1 is rotate, DIffA2 is lift	100	Clockwise
6	6	External	(not used)
6	n/a	J20 bottom pin	Rotate Dynamixel	n/a	n/a
7	n/a	J20 bottom pin	Gripper Dynamixel	n/a	n/a

* The direction of the rotation of the eye for Joint 5 is the opposite of the others.
** Development of the FPGA code started in the middle and so the numbering of the joints is not consistent. Specifically, when reading (or writing) the AdcCenters.txt file from the share folder, the 2nd and 4th, and 3rd and 5th, lines must be swapped

For problems related to hardware, be sure to search Hardware Issues