- Custom Development
The Dephy Actuator Package is a turn-key solution for people who want to test FlexSEA's capabilities or quickly design a prosthetic limb. The Package consists of a custom brushless motor integrated with a FlexSEA-Rigid circuit and a minimalist enclosure, pre-loaded embedded software, and a full suite of high-level software and test scripts.
Table 1. Motor
|Terminal resistance||186 mΩ|
|Terminal Inductance||138 µH|
|Torque Constant||56 mNm/A|
|Rotor inertia||1E-4 kg m2|
Table 2. Housing
Can be customized and/or engraved. Ask during the quoting process.
Table 3. Embedded System
|Voltage||20-50 V (5s-12s LiPo)|
|Commutation type||4-quadrant Field-Oriented control (4Q FOC)|
|PWM frequency||20 kHz|
|Max continuous motor current||10 A (Note 1)|
|Peak motor current||30 A (Note 1)|
|High level controller||STM32F427 180 MHz Cortex-M4 with floating-point unit (FPU)|
|IMU||MPU-9250 6-axis (3-axis accelerometer, 3-axis gyroscope) (Note 2)|
|Bluetooth||RN-42 Class 2 EDR Bluetooth module|
|Strain-gauge amplifier||One full-bridge channel, 5V excitation Gain = 203|
|Motor encoder||Absolute magnetic encoder, 14-bits|
|Current sensing and control||Motor: 3-ch 12-bits sensing, 10kHz PI controller|
|Battery: ±20A, 900Hz bandwidth, 12-bits|
|Safety protections (HW)||52V TVS, 10A slow-blow fuse|
|Intrinsic sensors||Battery voltage, intermediate voltage, +5V bus, temperature, etc.|
(1) Higher currents can be used with a heatsink. Multiply reported and commanded currents by 0.40 to obtain Q-axis current.
(2) Magnetometer disabled by software – overpowered by the motor’s magnetic field
Below are high level instructions and resources to get users started, as well as additional information to facilitate troubleshooting.