TT-50 RAPTOR

GENERAL PURPOSE WALKING MACHINE (TEROPOD TRANSPORTER)

TT-50 Raptor is a light two legged walking platform (teropod transporter) based on UT-50 components. It is conceived as a universal rolling machine for general use with a universal programming API. The machine can be modified and improved according to your own needs. UT -50 is a base for your own ideas . The user can equip TT with additional sensors such as a camera , a set of sensors or the master unit – a PC, a tablet, raspberry pi, arduino etc. The machine does not contain any ' intelligence' . In addition to the programming API, TT - 50 has a defined set of algorithms (stop, start, rest, up, go, back ,turn), which can be run from any PC or microcontroller.

TT-50 is built on a lightweight aluminum welded frame (profile 20x10x1.5 mm), to which four two partial legs are attached (L1 = 22 inches, L2 = 25 cm) . To drive the machine high- quality digital modeling servos Hitec are used. TT-50 has also got a mechanism to lift a leg ( to a height of approximately 4.5 cm ) as well as a steering mechanism. Each servo can pivot 60 degrees to the left or to the right. The leg is ended with an articulated foot equipped with two axis turn mechanism. The source of energy of the system is the efficient LiPol battery Model 3200mAh 7.4 V (the more powerful one can be installed). In addition, the tilt sensor has been mounted that turns off the power supply in case of a loss of balance or fall ( in the testing phase).

The electronics of TT-50 is based on the servo controller Pololu MiniMaestro 18. The controller is equipped with a visual tool that allows complex control of the servo (position, velocity, acceleration) from a PC level. In addition, the controller has also got a simple scripted language based on the FORTH language with which you can create more complex algorithms. There is also a system for wireless control based on the Pololu Wixel.

Motion control system is run by calling the proper sequence of movements (functions) defined in the script stored in the driver MiniMaestro. Each function with the sequence of movements has got a unique number, so it can be run through the Command Protocol from a PC or a microcontroller (details available on the driver). Of course , there is the possibility of individual control of each servo. With its simple visual tools (Maestro Control Center) the user can define new algorithms , which can be shared with others.

Bipedal machines seem to be potentially better in the practical application of four-legged machine. Bipedal machines are simpler, higher, easier in the software and the eyebrow appearances have better stability.

It is possible to build TT-50 on request - the cost of building TT-50 is about 2.500$ , and the construction time is about 5-7 weeks (depending on the availability of items). Handling with the TT-50 requires only a basic knowledge of technique: programming skills, the basics of digital electronics, principles of operation of the modeling servo and school principles of physics. And thanks to the fact that TT-50 is built with standard modeling components with a little practice you can freely convert it and improve. The total income will be donated to the expansion of my 'lab' and realization of new ideas.



Weigth 1.7 kg
Length 25 cm
Width 18 cm
Height 52 cm
Legs distance 16 cm
Legs Two parted four legs (L1=22 cm, L2=25 cm), turn mechanizm (axis turn), leg lift 40 mm, two axis turn foot mechanism
Frame Aluminium 6060
Drivers Digital Servos, 50Hz (20ms), Pulse from 0.9 ms to 2.1 ms
Number of motors 16
Supply 7,4V DC, 3200mAh LiPol 2S
Planned payload 0,5 kg
Electronics Pololu MiniMaestro 18, Pololu Wixel
Control Serial Command (PC, TTL), FORTH language
Sensors 3 axis accelerometer (planned)



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