There is a newer version of the Leg Test Stand available.
The new version uses the custom Master Board and Micro Driver Board instead of the Texas Instruments evaluation electronics.
This teststand allows us to evaluate the performance of a single 2dof leg with external sensors. The teststand has a linear guided vertical degree of freedom and a carriage that holds the leg and the motor driver electronics. The ground reaction forces are measured with a 6 axis force-torque-sensor and are transmitted to the control pc at 1kHz. The vertical position of the carriage is measured with an analog string potentiometer. The acceleration can be measured with an inertia measurement unit which is mounted to the carriage. The test stand can be equipped with a pull-up-motor module for automated resetting to the initial position for machine learning experiments.
- The details of the 2dof leg are described here: Leg 2dof
- The details of the lower leg and the foot contact switch are described here: Lower Leg and Foot Contact Switch
- The details of the TI evaluation board electronics are described here: TI Electronics
Carriage with 2dof leg and motor driver electronics / Slider Box
- weight carriage with electronics and 2dof leg: 650g
- vertical range: 85cm
- pull-force height sensor about 2N
Texas Instruments Dual Motor Driver stack
- Texas Instruments evaluation motor driver electronics
- The leg test stand requires a 24V power supply and a CAN communication channel
Waycon string potentiometer
- Waycon LX-PA-40 string potentiometer
- measurement range 1000mm
- Waycon Webpage
- Waycon String Potentiometer Datasheet
- ordering information below
ATI Mini-40-E force-torque-sensor
- 6 axis force-torque sensor
- ATI Mini-40-E with SI-40-2 Calibration
- NetBA Interface Box required
- Ethernet communication with control pc
- ATI Mini-40 Product Page
- ATI Mini-40-E Technical Drawing
- NetBA Interface Box Technical Drawing
- ordering information below
Lord Microstrain IMU 3DM-GX5-25 AHRS
- Lord Microstrain 3DM-GX5-25 AHRS Product Page
- 3DM-GX5-25 AHRS Datasheet
- USB communication with control pc
- ordering information below
Linear ball bearing and linear motion rod
- Linear ball bearings: KB-1
- Rod diameter 14mm
- Linear motion rods: Precision Stainless Steel Rods X46 14h6 x 1000mm
- ordering information below
Item aluminum profile
- Item aluminum profiles - Size 8 - 40mm x 40mm
- required profile length: 2,7m
- segment lengths: 120cm / 70cm / 50cm / 30cm
- ordering information below
Item 90 degree angle bracket 40mm
- 90 degree 40mm angle brackets
- ordering information below
Item end caps
- end caps - size 8
- ordering information below
Item M5 t-slot nuts
- T-slot nuts M5
- ordering information below
The recommended printing direction for all the parts below is the positive z direction of the stl files.
All the STL files for 3d printing the Leg Test Stand can be found here: STL Files Leg Test Stand.
- Carriage - STL file
- print on FDM or SLS printer
- Linear Bearing Cover - STL file
- print on FDM or SLS printer
- Adjustment Sleeve - STL file
- print on SLA, Multijet or Polyjet printer
- Linear Motion Rod Attachment - STL file
- print on FDM or SLS printer
- String Potentiometer and Pullup Motor Mount - STL file
- print on FDM or SLS printer
- Pulley Pullup Module - STL file
- for pullup motor / optional
- print on FDM or SLS printer
- ATI Sensor Top Plate - STL file
- print on FDM or SLS printer
- ATI Sensor Bottom Plate - STL file
- print on FDM or SLS printer
- Motor Driver Electronics Attachment - STL file
- for pullup motor electronics / optional
- print on FDM or SLS printer
- Stopper Attachment - STL file
- print on FDM or SLS printer
- Stopper Wing - STL file
- print on FDM or SLS printer
| Description | Quantity | Ordering Information | Comments |
|---|---|---|---|
| 2DOF Leg | 1 | Custom assembly | 2DOF Leg Documentation |
| TI Launchpad Microcontroller F28069M | 1 | Mouser 595-LAUNCHXL-F28069M DigiKey 296-38832-ND |
Launchpad F28069M Product Page |
| TI Booster Packs DRV8305 | 2 | Mouser 595-STXL-DRV8305EVM DigiKey 296-43181-ND |
DRV8305 Product Page |
| String Potentiometer | 1 | Waycon LX-PA-40 Waycon Distributors |
1000mm measurement range Waycon String Potentiometer Datasheet |
| 6 Axis Force-Torque-Sensor | 1 | ATI Mini-40-E SI-40-2 calibration ATI Sales |
ATI Mini-40 Product Page We ordered the sensor and interface box from Schunk in Germany. |
| Inertia Measurement Unit | 1 | Lord Microstrain 3DM-GX5-25 AHRS Lord Microstrain Distributors |
3DM-GX5-25 AHRS Datasheet We ordered the IMU from ZSE Electronic GmbH in Germany. |
| Linear Ball Bearings | 4 | KB-1 14mm Mädler 64699814 |
|
| Linear Motion Rods | 2 | Precision Stainless Steel Rods X46 14h6 x 1000mm Mädler 64799214 |
|
| Aluminum Profiles | 4 | Item Size 8 - 40mm x 40mm Item 7.0.000.09 |
Segment lengths: 120cm / 70cm / 30cm / 50cm |
| Angle Brackets | 4 | Item 0.0.411.15 | Bolts and nuts included. |
| End Caps | 5 | Item 0.0.026.01 | |
| T-Slot Nuts M5 | 7 | Item 0.0.480.54 | |
| Carriage | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| Linear Bearing Cover | 4 | STL file | 3d printed part Print on FDM or SLS printer. |
| Adjustment Sleeve | 4 | STL file | 3d printed part Print on SLA, Polyjet or Multijet printer. |
| Linear Motion Rod Attachment | 2 | STL file | 3d printed part Print on FDM or SLS printer. |
| String Potentiometer and Pullup Motor Mount | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| Pulley Pullup Module | 1 | STL file | 3d printed part / optional Print on FDM or SLS printer. |
| ATI Sensor Top Plate | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| ATI Sensor Bottom Plate | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
| Motor Driver Electronics Attachment | 1 | STL file | 3d printed part / optional Print on FDM or SLS printer. |
| Stopper Attachment | 2 | STL file | 3d printed part Print on FDM or SLS printer. |
| Stopper Wing | 1 | STL file | 3d printed part Print on FDM or SLS printer. |
Leg Test Stand v1 - Click on the picture to view the cad model in your browser
- You can download the Solidworks CAD files here.
Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview
Felix Grimminger
BSD 3-Clause License
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University