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 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 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	(Dynamixel)	Wrist rotate	n/a	n/a
7	n/a	(Dynamixel)	Gripper	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.