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A WEARABLE ROBOTICS TOOLKIT

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rigid [2018/06/06 00:11]
jfduval created
rigid [2019/06/03 13:32] (current)
jfduval
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 ====== FlexSEA-Rigid ====== ====== FlexSEA-Rigid ======
  
 +FlexSEA-Rigid is a one-board solution that integrates the features of four individual boards. It is used for Dephy ExoBoots, and for the [[dephyactpack|Dephy Actuator Packages]]. The design is divided in four logical blocks. Staying consistent with the business-naming convention adopted previously, the modules are named Regulate, Manage, Execute, and Communicate.
 +
 +**Manage (Mn):** very similar to the original [[manage|FlexSEA-Manage]],​ this module is centered around a powerful STM32F4 (STM32F7 for v1.0 and above) Cortex-M4 microcontroller. It will host our high-level walking controllers. ​
 +
 +**Execute (Ex):** simplified version of the original [[execute|FlexSEA-Execute]],​ this module has one and only one goal: control our brushless motor. It will run fast, low-level controllers,​ based on the state requested by Manage.
 +
 +**Regulate (Re):** this module is a hybrid between [[battery|FlexSEA-Battery]] and the Safety-Co Processor microcontroller that was present on the original [[execute|FlexSEA-Execute]] circuit. It contains the turn-on/off logic, and many sensors to monitor experiments and board state. It supervises Manage and Execute.
 +
 +**Communicate (Co):** this module regroups all of the communication peripherals present on FlexSEA-Rigid. Wired interfaces include one USB port (CDC, virtual COM port), and one RS-485 interface. Wireless capability is provided by a pre-certified Bluetooth module (RN-42 or equivalent). Other peripherals are available on the expansion connector.
 +
 +===== PCB Versions =====
 +**0.1:​** ​
 +  * First integration of the discrete FlexSEA boards into a unified system.
 +  * Designed in February 2017
 +  * Used for some Dephy Exoskeletons
 +  * Used only for some ActPack prototypes. Only one client has that version.
 +
 +**0.2:​** ​
 +  * Designed in November 2017
 +  * Used for some Dephy Exoskeletons
 +  * Used for all ActPack sold before 2019 (see exception above)
 +  * Main changes vs 0.1:
 +    * Removed unused USB ports for Re and Ex
 +    * Smaller programming connectors (0.5mm) for Re and Ex
 +    * Mirrored J4 for easier access to the lock
 +    * Pico-Clasp connectors replace the previously used PicoBlade connectors
 +    * 10A fuse (was 30A)
 +    * 20A current sensor (was 30A)
 +    * Much cleaner PCB layout
 +    * Improved hardware protections,​ extra TVS on power buses
 +    * Other minor improvements:​ extra pull-downs, extra signals between ยตC, etc.
 +
 +**0.2B:​** ​
 +  * Designed in November 2018
 +  * Used for all ActPack sold in 2019
 +  * Very similar to 0.2, but we had to re-order for the OSL project so we rolled in some simple but important improvements:​
 +    * Self-turn-on patch to eliminate sparks when connecting a battery of more than 30V
 +    * Much lower surge current at turn-on to eliminate random blown fuses
 +  * Integrated better sourced components to work around part shortages
 +
 +**1.0 - 3.0:**
 +  * November 2017 - May 2019
 +  * Exclusively used for Dephy Exoskeletons,​ not sold as stand-alone boards or as ActPacks
 +  * Different microcontroller,​ sensors, form-factor,​ radios, etc.
 +
 +===== Misc =====
 +
 +  * [[rigidpatches|Known hardware problems and troubleshooting]]
rigid.1528243875.txt.gz ยท Last modified: 2018/06/06 00:11 by jfduval