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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. _
To search the Wiki, use the main search box in the black bar at the top, then select WiKi to filter the results or go to https://github.com/HaddingtonDynamics/Dexter/search?type=Wikis&q= and then add your search terms to the end of the URL.
To report errors, or request additional data, please chat with us on discord and/or raise a new issue