design

this page defines what exactly softwares and hardwares this project is going to use.

softwares

Designing

• Freecad, to darw the mechanical parts.

• Blender, to render the mechanical parts.

• KiCad, to draw the electronic parts. (If required)

FEM

these parts work together with freecad. see Freecad documents

• CalculiX

• Gmsh

Controls

• ROS2

Simulation

• Gazebo

• Godot

UI

• QT (or pyqt)

  • currently prefer the KDE tech stack.

hardwares

• Raspberry Pi

• PCA9685A 16 channel PWM adapter

• Moded servos with no angle limit

• 6V 10A power supply

mechanical specs

joints

• BASE

• RAH-BASE z+56

• RBH-RAH x+150

• RCH-RBH x+150

• RDV-RCH x+20

• ERH-RDV x+10 z+20

• ERV-ERH