Bottom - power board

bottom miniFig. 1 Bottom board view.

 

The bottom board generates the voltage levels for all of EMYS' subsystems. It houses two separate DC-DC converters and two H-bridge drivers with current sense capability for DC eye protrusion motors as well as shunt current measurement units for each of four servomotors (eye rotation and eyelid rotation). The controller also serves as the main point for connection of external components. Detailed information on positioning and function of bottom board connectors can be found below.

 

controller bottom
Fig. 2 Bottom board overview.

 

Name Type Description
X1-3 8 pin Micro-Match Board-to-board signal connectors, not marked in Fig. 2
X4 10 pin Micro-Match Board-to-board signal connector, not marked in Fig. 2
X5 Pin header 2,54mm 1x3 Right eyelid servomotor 
X6 Pin header 2,54mm 1x3 Right eye rotation servomotor 
X7 Pin header 2,54mm 1x3 Left eyelid servomotor 
X8 Pin header 2,54mm 1x3 Left eye rotation servomotor 
X9-10 Molex 22-03-5045 Main power/communication connector, compatible with Dynamixel servomotors 
X11 ZL231-10PG  Left eye protrusion motor encoder 
X12 ZL231-10PG Right eye protrusion motor encoder 
X13 B2B-PH-K-S Left eye protrusion motor 
X14 B2B-PH-K-S Right eye protrusion motor 

 

Top - logic board

top miniFig. 3 Top board view.

Top board of the Ver. 2 controller is responsible for communication and generating control signals for EMYS' drives. It is based on a Freescale Kinetis K40 microcontroller running Freescale's real time operating system - MQX. Up to 5 custom electrodes can be placed inside of EMYS' covers and connected to the top board to enable the robot to sense touch. Signal LEDs allow the user to quickly diagnose the state that the controller is currently in.

controller topFig. 4 Top board overview. 

 

Name Type Description
X1-3 8 pin Micro-Match Board-to-board signal connectors, not marked in Fig. 3
X4 10 pin Micro-Match Board-to-board signal connector, not marked in Fig. 3
X5 Picoblade, straight, 1x5 Touch sensing electrodes input
X6 J-Link needle adapter J-Link programmer connector
X7 Picoblade, straight, 1x4 Master PC USB connection 
X8 Picoblade, straight, 1x4 On-board RGB camera input
X9 Picoblade, right angle, 1x2 RTC battery input 

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.9.1, 15.05.2017

FLASH Documentation