BACHELOR'S DEGREE IN INDUSTRIAL ELECTRONICS AND AUTOMATION ENGINEERING|ETSID
DESIGN AND DEVELOPMENT OF AN
INNOVATIVE
DRAWING ROBOT FOR @BRISTOL
SCIENCE MUSEUM
AUTHOR: GUILLEM CABO PITARCH
TUTOR: DR. D. VICTOR SANTIAGO PRADERAS
COTUTOR:D. MATTHEW VENN
SEPTEMBER 2016
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ABSTRACT
De elopmen and implemen a ion o a e ical d awing obo o au onomous V-plo e o
ep esen he ene gy gene a ed by he oo op sola a ay o AT-B is ol Science museum wi h
a is ic pa e ns.
This p ojec has been pe o med as pa o in e nship a Ma Venn Enginee ing and wi h he
suppo o RS Componen s.
RESUMEN
Desa ollo e implemen ación de un obo de dibujo e ical o V-plo e au ónomo que
ep esen a la ene gía gene ada po las placas sola es del museo de ciencias AT-B is ol en
pa ones a ís icos.
Es e p oyec o se ha ealizado bajo el con enio de p ác icas con la emp esa Ma Venn
Enginee ing y con el pa ocinio de RS Componen s.
RESUM
Desen olupamen i implemen ació de un obo de dibuix e ical o V-plo e au ònom que
ep esen a l’ene gia gene ada pe les plaques sola s del museu de ciències A -B is ol amb
pa ons a ís ics.
Aques p ojec e se ha eali za baix el con eni de p àc iques amb l’emp esa Ma Venn
Enginee ing y el pa ocini de RS Componen s.
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ACKNOWLEDGEMENTS
Special app ecia ion o my amily and Elena o belie e in my and encou age me o do my bes
e e y day.
I wan o his oppo uni y o g a e ully acknowledge o Ma Venn, Angel And es Palau and he
o he colleges o he co-wo king ha help me day by day o g ow as enginee .
Thanks o all he o he people in ol ed in his p ojec he e, in Valencia, and in B is ol.
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INDEX
1. In oduc ion and objec i e __________________________________________ 10
2. Desc ip ion ______________________________________________________ 11
2.a S a e o he a ______________________________________________________ 12
2.b Cus ome s speci ica ion ______________________________________________ 14
2.c P ojec ag eemen ___________________________________________________ 15
2.d Sponso ship ag eemen ______________________________________________ 19
2.e Technical speci ica ions _______________________________________________ 20
3. P ojec de elopmen ________________________________________________ 22
3.a Simula ions ________________________________________________________ 23
I. Tensions ___________________________________________________________________ 23
II. E o s _____________________________________________________________________ 25
3.b So wa e ___________________________________________________________ 27
I. LinuxCNC/Machineki con igu a ion _____________________________________________ 27
II. Communica ions ____________________________________________________________ 29
III. Pa e n gene a ion ___________________________________________________________ 30
3.c Mechanical design ___________________________________________________ 37
I. Cabine & ame _____________________________________________________________ 37
II. Gondola ___________________________________________________________________ 38
III. Mo o s se up _______________________________________________________________ 43
IV. Pape oll __________________________________________________________________ 46
V. Guide pulleys _______________________________________________________________ 48
VI. Cha ging S a ion _____________________________________________________________ 50
VII. Calib a ion ool ___________________________________________________________ 51
VIII. O he pa s _______________________________________________________________ 52
3.d Elec onics _________________________________________________________ 53
I. PSU _______________________________________________________________________ 53
II. BeagleBoneBlack ____________________________________________________________ 53
III. BBB b eakou boa d __________________________________________________________ 55
IV. Gondola ___________________________________________________________________ 57
V. Big digi s ___________________________________________________________________ 58
VI. Cha ging se ups _____________________________________________________________ 58
4. Plans ___________________________________________________________ 62
5. Budge __________________________________________________________ 73
6. Re iew and u u e imp o emen s ____________________________________ 76
7. Conclusions ______________________________________________________ 78
8. Bibliog aphy _____________________________________________________ 79
APPENDIX I, QUICK SETUP USER MANUAL _______________________________________ 83
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APPENDIX II, MATLAB CODE ______________________________________________________ 89
APPENDIX III, RESUME OF SIMULATIONS AND DESIGN PARAMETERS _____________________ 113
APPENDIX IV, MACHINEKIT CODE MODIFICATIONS ________________________________ 117
APPENDIX V, PCB SCHEMATICS _____________________________________________ 133
APPENDIX VI, PLANS OF OTHER MECHANICAL COMPONENTS __________________________ 143
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compu e and i ge good esul s, bu ac ually he e a e in e es ing e sions unning on A duino
and single-boa d compu e s.

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2.b Cus ome s speci ica ion
The cus ome , A -B is ol, loca ed a Ancho Road, Ha bou side, B is ol ,BS1 5DB. Speci y he
ollowing equi emen s:
Deli e y and ins alla ion:
 The obo shall be ins alled be o e 21 July.
 Foye is open o public se en days a week and ins alla ion mus be pe o med ou o
no mal ope a ing hou s, and ying o a oid o use bulky equipmen as sca olding
owe s i i is possible.
 The museum is in e es ed in use as d awing su ace he black wall o he oye and use
chalk o emo able ink.
 Wa an y/ echnical suppo ag eemen o bigge issues and ad anced main enance
shall be p o ided.
Design equi emen s:
 The obo will be a pe manen ins alla ion ha will be placed a he oye o he
museum, o ha eason he machine shall be eliable and obus .
 The d awing a ea o he obo shall be a ound 200 cm2. And he maximum dimensions
o he obo shall be 300 cm wide by 200 cm heigh .
 Main enance ask as clean he wall and change he ba e ies shall be pe o med as
maximum once a week.
 The d awings shall be done e e y wo minu es.
Sa e y equi emen s:
 E en i is no allow o ouch he machine he p ojec shall conside he consequences
o he machine and gua an y he sa e y o he public. Sa e y es will be de ined and
execu ed by he sa e y eam o he museum a e ins alla ion. This es can include:
 Sa e isi o in e ac ion
 Ope a ion
 A -B is ol Design isk assessmen
 A -B is ol In-si u isk assessmen
A -B is ol esou ces a ailable:
 Local main enance eam ha can be ained o pe o m common ouble shoo ing and
simple ixes.
 G aphical ep esen a ion o he da a can be pe o med by in-house g aphic eam i a
speci ic inpu ile ype is p o ided.
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2.c P ojec ag eemen
Pa s o he ag eemen :
This ag eemen conce n wo pa s, he pu chase ep esen ed by A -B is ol wi h physical
add ess Ancho Road, Ha bou side, B is ol ,BS1 5DB. And he supplie Ma Venn based a Ca e
de la República A gen ina, 22, 46021 Valencia.
He eina e oge he e e ed o as he Pa ies
1.Objec i e and scope
 A -B is ol will pu chase a cus omized V-plo e om now on called Ene gy D awing
Robo o Ene gy MegaD awz om Ma Venn.
 Ch is Dun o d, Sus ainabili y Engagemen manage will ac as p ojec manage o A -
B is ol and Andy Cocco, Senio Design Enginee will ha e esponsibili y o signing o
he inal design o he exhibi .
 This ag eemen egula es he igh s and obliga ions be ween pa ies, ega ding design,
pu chasing and ins alling he exhibi in A -B is ol.
2.Scope o Deli e y
 The Ag eemen includes he ollowing Exhibi s being supplied o A -B is ol
Exhibi name: X0339-1 Ene gy obo
3.Subcon ac o s
 The Supplie is en i led o use subcon ac o s been he supplie he esponsible o ul il
he condi ions es ablished in his ag eemen .
4.P ice and paymen s
 The amoun des ined o he p ojec Ene gy MegaD awz wi h e e ence name X0339-1
Ene gy obo is GBP £3.600 included de elopmen , deli e y and ins alla ion, been his
he o al amoun p o ided by he museum.
 Cos o on-going consumables is co e ed by he pu chase .
 The paymen will be dis ibu ed as ollow:
o 50% on signing o his Ag eemen .
o 40% a e shipmen
o 10% when he accep ance o m is signed by bo h Pa ies.
 Paymen shall be made 60 days a e eceip o in oice.
 The in oice shall be ma ked: PO#110284 X0339-1 Ene gy Robo and sen by email o:
ch is.dun[email p o ec ed].uk & inance@a -b is ol.o g.uk
5.Packagin and liabili y
 The supplie is esponsible o he damages p oduced on he Exhibi X0339-1 Ene gy
obo be o e he deli e y, ins alla ion and es ing. This sec ion does no exclude he
supplie om he subjec ion o o he sec ions.
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6.P ocedu e
 The Supplie is obliga ed o comply wi h he ollowing:
o Comply he essen ial ea u es o he inal design speci ied a he end o his
documen .
o Design, de elop and p oduce he Exhibi s, incl. documen a ion and O&M
manual.
o Repo p og ess and quali y o A -B is ol
o Pack he Exhibi and p epa e i o anspo .
o T anspo he Exhibi s o A -B is ol’s building
o Du ing he wa an y pe iod (12 mon hs), epai any de ec s o he Exhibi
epo ed.
o P o ide aining in he main enance and ope a ion o he Exhibi s o A -B is ol’s
employees.
7.Repo ing o aul s and de ec s
 Any aul s and/o de ec s o he Exhibi s shall be epo ed o he Supplie wi hin a
easonable ime a e he aul and/o de ec has been disco e ed by A -B is ol.
 The Supplie shall epai he aul s and/o de ec s wi hin 10 days a e he aul s and/o
de ec s ha e been epo ed.
 Modi ica ions o main enance p ocedu es no speci y by he supplie can a oid he
wa an y.
8.Cus ome igh s
 On signing o his Ag eemen , A -B is ol shall ha e all igh s o he main enance
and u he de elopmen o he Exhibi .
9.In ellec ual p ope y igh s
 A -B is ol ha e all igh s and owne ship o adema ks, copy igh , design, g aphics and
exp ession o he ‘Robo Encoun e s’ p og amme.
 The Supplie shall gua an ee ha he Exhibi is b and new and manu ac u ed o he
pu poses o A -B is ol. The Exhibi shall no be encumbe ed wi h any hi d-pa y igh s,
including any igh s a ising om copy igh and ela ed igh s.

The Supplie will p o ide A -B is ol wi h a non-exclusi e license, unlimi ed in ime, o
he Exhibi . The Supplie is en i led o use he Exhibi in o he ma ke ing.
10.Deli e y
 The Supplie shall deli e he Exhibi s o A -B is ol, Ancho Road, B is ol.
 All he cos de i ed om anspo a ion shall be included in he con ac cos s.
 Supplie shall p o ide he exhibi ollowing he deadlines s ablished in sec ion 11. The
supplie will co e any inancial loss ha can de i a e om he delays in he p ojec . The
maximum compensa ion ha can be equi ed by he pu chase will be o 0,1% o he
p ice s ablished o he p ojec in sec ion 4, o each day o delay.
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11.Time schedule
 The supplie shall accomplish he goals s ipula ed in he ollowing schedule:
 O de shall be con i med be o e begging o May 2016.
 The speci ica ions mus be ix by he pa s be o e May 15 h 2016.
 Be ween 15 h o May and 15 h o July 2016 he p og ess o he p ojec mus be
communica ed o A -B is ol wice a mon h.
 The exhibi s mus be deli e ed, ins alled and es ed be o e 21 h o July 2016
12.Assis ing wo ke s
 The pu chase will p o ide pe sonal o o e see he powe ins alla ion, pe o m he
sa e y es and o he ask explici ly equi ed in his ag eemen .
13.Sa e y egula ions
 The Wo king En i onmen Ac and Regula ions o Sys ema ic Heal h, Sa e y and
En i onmen al Ac i i ies in Businesses (HSE Regula ions) applies o he loca ion o he
Exhibi . The pa s shall ensu e ha all ac i i y complies wi h hese egula ions.
14.T ans e o possession
 The possession o he Exhibi shall be ans e ed wi h ull unc ionali ies o A -B is ol
on he 22nd July 2016 in o he case sec ion 7 and 10 shall by applied and he p ocedu e
o ans e ence will be delayed.
15. Du a ion
 The exhibi shall be designed o ha e a li espan be ween 3 and 5 yea s and he wa an y
pe iod shall be equal o 12 mon hs o m ans e o he possession.
Final speci ica ions
The pa s ha e ag eed he speci ica ions o he exhibi X0339-1 Ene gy obo also e e ed as
Ene gy MegaD awz as ollow:
Deli e y and ins alla ion:
 The obo shall be ins alled be o e 21 July.
 Foye is open o public se en days a week and ins alla ion mus be pe o med ou o
no mal ope a ing hou s, and bulky equipmen as sca olding owe s a e no allowed.
 The obo will be ins alled a he oye , shall d aw o e a pape o one me e wid h.
 The supplie does no gua an y ull unc ionali ies o he obo i a wi ed LAN connec ion
is no p o ided, i his apply lack o unc ionali ies will no be conside ed as b each o
con ac .
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 The ins alla ion o a s anda d BS 546 socke connec ed o elec ic ci cui and placed
behind he obo cabine will be p o ided by he pu chase .
 The d awing obo shall be loo s anding bu shall be secu ely a ached o he wall. The
supplie is allowed d ill holes o he oye wall when necessa y.
 Wa an y/ echnical suppo will be p o ided o he i s wel e mon hs a e possession
is ans e ed.
 Main enance will be p o ided by he pu chase . The supplie will p o ide
documen a ion o pe o m his asks and a leas one hou o aining.
Design equi emen s:
 The obo will be a pe manen ins alla ion ha will be placed a he oye o he
museum, o ha eason he machine shall be eliable and obus .
 The d awing a ea o he obo shall be equal o g ea e o 150cm2. And he maximum
dimensions o he obo shall be 300 cm wide by 200 cm heigh .
 Main enance ask as clean he wall and change he ba e ies shall be pe o med as
maximum once a week.
 The d awings shall be done e e y wo minu es.
 The public on pa o he cabine shall be made o anspa en ac ylic, and he
di e en elec ic and mechanical pa s ha o m he sys em shall be isible.
Sa e y equi emen s:
 E en i is no allow o ouch he machine he p ojec shall conside he consequences
o he machine and gua an y he sa e y o he public. Sa e y es will be de ined and
execu ed by he sa e y eam o he museum a e ins alla ion. This es can include:
o Sa e isi o in e ac ion
o Ope a ion
o A -B is ol Design isk assessmen
o A -B is ol In-si u isk assessmen
 The powe supply shall be ex e nal, and a 30 mA Residual-cu en de ice shall be
ins alled a he AC inpu by A -B is ol be o e inal app o al.
 The exhibi shall be a ached o he wall wi h M8 sc ews.
 Aluminium ex usion o he ame shall be made wi h 40x40mm aluminium ex usion
p o iles o la ge and connec ed o ea h. This assembly shall be done wi h quick
connec o s.
 The weakes poin o he s uc u e shall be able o hold a load o 750N and he heigh o
he cabine shall be g ea e han 750 mm.
 Slo s mus be designed o a oid inge s o ge s uck, his will be es ed by he A -B is ol
museum.

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2.d Sponso ship ag eemen
Figu e 3 - RS Componen s
This p ojec caugh he a en ion o RS Componen s in Uni ed Kingdom. The sponso ship
ag eemen was s ablished e bally o e successi e mee ings. The condi ions whe e s ablished
as ollow:
RS ag ees o p o ide 1500 pound in ma e ial o m hei UK s o e and ee shipping.
Ma Venn enginee ing will eco d a se ies o ideos documen ing he de elopmen p ocess, his
ideos will con ain he RS logo.
The head enginee o he p ojec will w i e a blog pos o RS ha will be published a e he
p esen a ion o he p ojec .
The logo o RS will appea in he desc ip ion boa d o he obo while i is ins alled in A -B is ol
museum.
RS can eco d he obo and use his ma e ial wi hou limi a ion.
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2.e Technical speci ica ions
Fo his p ojec we s ablish some in e nal speci ica ions in addi ion o he ag eemen
speci ica ions o each he goals o he cus ome and guide he enginee ing eam on he
de elopmen .
Gene al Speci ica ions
 Final pa s can be manu ac u ed wi h 10mm ac ylic, 6mm del in, 3 and 5 mm aluminium,
ABS o PLA 3D p in ed plas ic.
 D awing speed shall be con igu able and g ea e han 10mm/s.
 P o o ype o he obo shall be assembled locally o de elopmen and es .
 Mechanical design shall be made wi h usion 360 o Solidwo ks.
 Pieces o lase cu e shall be expo ed o DXF and impo ed o Co elDRAW.
 Pieces machined wi h CNC milling machine shall be expo ed o Fusion360. A quali ied
ope a o will gene a e he bes ool pa h and machine he piece.
Managemen
• Task will be scheduled in he T ello pla o m.
• On Mondays mo ning he schedule o he week will be discussed.
• S a e o he p ojec will be epo ed o AT-B is ol and RS Componen s wice a mon h.
PCBs
• Two sided PCBs wi h all he possible 1206 SMD componen s conside ing echnical
limi a ions.
• Design wi h Ki-Cad o Eagle.
• Visual and elec ical inspec ions shall be pe o med be o e connexion wi h powe
supply o o he sys ems.
• M3 moun ing holes shall be included.
• Include ex a pin ou i is possible and al e na i e unc ions o euse he ha dwa e
o o he p ojec s.
Code
 Spli he code in unc ions o imp o e eamwo k, main enance and eusabili y.
 When ha dwa e is in e aced, c ea e es iles o check all he unc ions
independen ly.
 Use Gi Hub eposi o ies o log he modi ica ions.
F ame
• Rende s o he design shall be p o ided o AT-B is ol be o e o de he componen s.
• The use o ac ylic shall be educed as much as possible.
• Use s anda d connec o s and p o iles wi h guides o sc ew in.
Gondola
• Gondola PCB shall be smalle han 100mmx40mm.
• Ba e y shall allow li he ac ua o 303000 be o e discha ge
• Pen shall be easy o adjus wi hou modi ica ions o he ac ua o by main enance
eam.
• Gondola shall be es ed o 200 hou s be o e deli e .
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Mo o s
 The mo o s can be se os o s eppe s.
 Simula ion o he sys em shall be pe o med o de e mine hei cha ac e is ics be o e
buy he componen s.
Pape moun
 Design shall be op imized o educe he amoun o del in necessa y o build i . Ac ylic
canno be used o s uc u al pa s.
 Design shall allow o i olls be ween 30 and 90 mm o diame e .
 -Replace he pape shall be a one-man ask.
S ing guides
 Shall be designed hinking abou appea ance and eliabili y
 Componen shall be es ed o mo e han 120 hou s.
Cha ging
 De e mine bes op ion be ween induc i e cha ge o con ac cha ge.
 Tes o 200 hou s
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3. P ojec de elopmen
This p ojec has been de eloped as esul o he in e nship a Ma Venn Enginee ing. Wo k as
pa o a small eam has allow me o pa icipa e in almos all he pa s o he p ocess. This
memo y co e s he main aspec s o design in a gene al way o keep he cohesion and pays mo e
a en ion o he sec ions whe e mo e wo k load was assigned o me.
This sec ion has ou pa s in unc ion o hei main subjec .
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Figu e 8 - Axis GUI Linux CNC
Fo add he au onomous unc ion we add a py hon in e ace called bipod.py. Tha ile allows o
use he au onomous beha iou . This ile in eg a es communica ions be ween pa s as he
gondola signal, in e al be ween d awings, cha ging sequence, e ce e a…
II. Communica ions
We can iden i y h ee communica ions sys ems in his obo . The i s one is he communica ion
be ween he BeagleBone and he de elope , ha as has been explained be o e can be done in
se e al ways and is al eady implemen ed in he sys em. The second pa is he communica ion
be ween he gondola and he BeagleBone and he hi d one is be ween he se e ha ecei e
he in o ma ion ob ained om he sola panels and he obo .
The communica ion wi h he gondola has been made wi h a wi eless connec ion using wo
xbee2. F om he gondola an ATmega328p p o ide he signal o a capaci i e senso o de ec i
a isi o has in e e ed wi h he obo , he ba e y ol age. And a checksum. A he o he side
Linux does he checksum and i bo h a e he same egis e he in o ma ion o modi y i s
beha iou i somebody ouch he gondola o he ba e y go o low. A he same ime a package
is send back o he gondola o p o ide he posi ion o he se o ha d i es he Z axis.
The obo has communica ion wi h he da a logge o he sola panels, a Sunny WebBox (15),
h ough local ne wo k. The da a o ene gy gene a ion and s a us o he machine is send by Linux

30
o he Cu si eDa a (16) se e e e y wo minu es. Ene gy da a is ans o m o a g aphical
ep esen a ion, expo ed o gcode and send i back o he speci ic olde ha Machineki .
All he alues a e eco ded in he se e and displayed in a dynamic webpage powe ed by
eeboa d (17) . This online dashboa d allows o moni o he inpu da a, ac ual d awing, ene gy
gene a ion and o he ad anced pa ame e s o he obo , posi ion, e o s, excep ions,
empe a u e, e c...
Figu e 9 - Robo dashboa d on Cu si eda a se e (18).
III. Pa e n gene a ion
LinuxCNC is designed o pe o m machining asks o ha eason he inpu iles shall be w i en
in g-code wi h he ex ensions .nc, .ngc o .gcode. The axis GUI ha e ools o ans o m pic u es
in JPG o PNG o his o ma none heless be e and mo e p edic able esul s a e ob ained wi h
na i e gcode iles.
We ha e used se e al ways o gene a e he ajec o ies ha we wan ed o d aw in each
si ua ion. Gene al s eps a e design a d awing in ec o o ma , expo i o DXF and ansla e i
o gcode, some imes his p ocess is no s aigh o wa d and equi e adjus he size, eloca e he
o igin o coo dina es and con igu e he p og am o expo he gcode wi h he con igu a ion o
he a ge machine.
We we e in e es ed o es he accu acy and eliabili y o ou sys em o ha eason we designed
some complex geome ical shapes. The geome y allows o easily ecognize mis akes and
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dis o ions o he image and he in e sec ion o e he same poin s help us o check ha he
pape will no b eak due o he ic ion and excess o ink, mo eo e la ge iles help o iden i y i
he sys em ha e blockages o i mechanicals p oblems appea . We use Ma lab, and se e al
sc ip s whe e a pola unc ion change o e i e a ions and he ou pu is plo ed. This pa e n
gene a ion iles and some o he ou pu esul s can be ound in he i ual esou ces unde he
olde Pa e n designs Ma lab.
Figu e 10 – Code and ou pu o Ma lab pa e gene a ion a.m.
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Figu e 11 – Se 1 o pa e ns gene a ed wi h Ma lab
Once he iles a e sa ed in .SVG o ma hey shall be scaled, eposi ion i acco ding o he
coo dina es sys em ha we a e using in he obo and ans o med o DXF. Tha has been made
wi h he open sou ce SVG g aphics edi o Inkscape (19). Once hose asks a e pe o med he
pic u e can be expo ed o gcode wi h se e al applica ions. In ou case we use DXF2GCODE.
Finally, his gcode can be loaded o he Machineki . I he py hon in e ace is unning he ile
shall be placed in he di ec o y / mp/gcodes, ne e heless i he axis GUI is enabled, we can
sea ch he ile h ough any di ec o y, p e iew he design, eloca e i and s a he d awing.
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Figu e 12 - Se 2 o pa e ns gene a ed wi h Ma lab
Ano he way ha we use o design es pa e ns was use Solidwo ks. We design 2D d awings
ha whe e sa ed di ec ly o DXF. Those pa e ns whe e hough o e alua e he li ing
mechanism o he gondola, he accu acy o d aw s aigh lines and ci cles and he capaci y o
manage la ge iles and long p in ing imes. Some o his designs p oduce p oblems o ans o m
i o gcode due o he la ge amoun o segmen s used o d aw accu a e splines. Fo ha eason,
is use ul a oid Tex and expo he designs as polylines ins ead o splines.
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Figu e 13 - es pa _cccc designed wi h Solidwo ks
Those pa e ns whe e use ul o unde s and he limi a ions o DXF2GCODE and spo some
communica ions e o s wi h he gondola and he BeagleBone and ix he mo emen in he Z
axis.
As expe imen we de elop a Ma lab unc ion ha ans o m low esolu ion g ey scale pic u e
di ec ly o gcode, he name o his unc ion was png2gcode_4le els_ho izon al ill.m and can be
ound in he i ual esou ces .Each pixel was ans o med in o a se o lines in he gcode. I he
pixel is black he maximum amoun o lines is d awn and i i s whi e no hing is done.

35
Figu e 14 - Inpu image o png2gcode_4le els_ho izon al ill.m
Figu e 15 -T ajec o y gene a ed wi h png2gcode_4le els_ho izon al ill.m using igu e 6 as inpu and web gcode
simula io n aynaud.gi hub.io/webgcode/
Despi e o he po en ial o his gcode gene a o we decided o s op he de elopmen o pu
mo e e o in o he pa s o he p ojec and keep he sou ce code o u u e p ojec s.
The las way o gene a e he d awings is he op ion used in he usual ope a ion mode o he V-
plo e . We ha e a s eam o da a ha is collec ed by he obo . Tha in o ma ion is deli e ed o
he se e o Cu si eDa a, he in o ma ion is ans o med in o a d awing, when mo e ene gy is
36
gene a ed he shapes become la ge and mo e in ica e. The d awing is now expo ed o gcode
and send i o he obo . Finally, he obo checks i he e is an incoming ile and uns he gcode.
E e y pe al is gene a ed wi h in e als o wo minu es, and only he gcode co esponding o his
pe al is sen e e y ime.
Figu e 16 - Pe als pa e n gene a ed by Cu si eDa a se e om he sola panels ene gy gene a ion o AT-B is ol
museum om 22 o 28 o Sep embe .
37
3.c Mechanical design
These decisions ha e help o inc ease he pe o mance o he obo and ul il he sa e y
speci ica ions, u he mo e he design equi ed o be a ac i e and eliable and was bounded
o he limi a ions o machine y, cos s and ime.
The p o o ypes desc ibed in his chap e ha e been designed o be able o manu ac u e hem
wi h a lase cu ing machine, 3D p in e and a la he. A he same ime he designs shall be doable
wi h small changes on a CNC d illing machine o ge a be e inish.
I. Cabine & ame
This is he la ges s uc u e o he p ojec and was modi ied se e al imes o mee he needs o
supplie and p o ide . Cos , and appea ance whe e undamen al bu also he sa e y was a main
opic specially wi h he ancho poin s.
Figu e 17 - Rende o he inal design app o ed by bo h pa s
The plans o his sec ion a e a ailable on Appendix VI, Mechanical componen s. And a e labelled
wi h he ini ial le e F.
The cabine has a s uc u e o 40x40mm Rex o h aluminium p o iles ha allow easy assembly
wi h T-nu s and quick connec o s. The on pa o he cabine has wo pa s; he op pa is
co e ed wi h 3mm hickness anspa en ac ylic and con ain he mo o s se up, 4 LED displays,
he BeagleBoneBlack and ci cui boa ds and he wo powe supplies.
The lowe pa is used o s o e he ools o main enance as he leng h se e o he pen, he
s ick o eplace he pape , g ease, along wi h o he s.This pa is co e ed wi h whi e enee ed
chipboa d and secu ed wi h a key.
38
As was s a ed in he speci ica ions he s uc u e s ands on he loo bu was also secu ed by wo
M8 sc ews on he op pa .
The pape is placed in he op side o he s uc u e wi h a mechanism explained in subsec ion
IV, O he elemen s, he pape is eed unde an ac ylic pla e o keep i la o e he wood su ace.
A e ha i pass h ough a slo and is clipped o a beam in he lowe pa o he cabine wi h
wo clamps.
As was s a ed in sec ion 2.c P ojec ag eemen he cabine mus be able o hold 750 N on he
weakes poin . Those poin s a e loca ed a 1/4 h and 3/4 h o he beams on he op pa o he
cabine . They we e es ed wi h a load o 80 Kg wi hou damage.
II. Gondola
One o he main elemen s o a V plo e is he ac ua o o gondola, he design o his pa ha e
huge e ec on he d awing quali y. F om Ma lab simula ions we saw ha he numbe o s ings
does no a ec he ension dis ibu ion o he mo o s and wo king a ea. Oscilla ions a e s ic ly
ela ed wi h he cen e o mass and momen . On he one hand, h ee and ou s ings
con igu a ion can educe wobbling, in con as he numbe o s ings inc ease complexi y and
made he design less obus , allowing ha somebody ouch he s ings while he obo is
d awing.
The i s ques ion ha we answe was which ma e ial was be e o link he mo o s wi h he
gondola. O he obo s ha e used iming bel s and sp ocke s bu hey a e expensi e and elas ici y
can in oduce e o s. Beaded co d is cheape and s ill o e good accu acy bu is no designed
o enginee ing pu poses and manu ac u e s does no p o ide s eng h alues o li espan. Ou
choice has been use a s ing made o Ul a High Molecula Weigh Polye hylene o UHMWPE
(20). This ma e ial is 15 imes s onge han s eel ha allow us o use e y hin ligh weigh co ds
wi h eally low elas ici y. The s ing ha we use was 1mm Dyneema wi h a nylon co e o
p o ec he co e om ic ion, b eaking s eng h was g ea e han 550N and elonga ion a 1kg
load, ha was he expec ed weigh o he gondola, ends o ze o.
Figu e 18 UHMWPE Dyneema SK75 / SK60 p ope ies. G aph p o ided by Moo ing Solu ions GmbH
We build a simple gondola wi h h ee a achmen poin o check he di e ences be ween he
se ups o he pic u e abo e expe imen ally.
45
Adding a educ ion gea and use a mo o wi h high holding o que help use o sol e also ano he
p oblem. When he powe o he mo o is disconnec ed as he s eppe has pe manen magne s
we ge a de en (21) o que a ound o he holding o que ha allow a smoo h descend o he
gondola o a sa e posi ion ins ead o all eely and c ash o e he cabine .
Consequen ly we designed he inal e sion o ou mo o s se up wi h he expe ience ob ained
om he expe imen al se ups and he simula ions o ob ain a eliable mechanism ha inc ease
he holding and de en o que o he mo o , allow o w ap he same amoun o s ing wi h each
s ep and p o ide a one-bi encode , c ucial o de e mine he homing sequence equi ed in each
case.
a
Figu e 29 - Rende o he inal mo o s se up
Figu e 30 - De ails o he mo o se up, on he le hand side he e is he educ ion gea and on he igh hand side he
sliding mechanism ha ac i a e he op ical senso and he aluminium spool whe e he s ing is w aped.
The inal mo o se up ha appea in he pic u es abo e has a pla e whe e he mo o is moun ed.
This piece can slide up and down o he aluminium ex usion o adjus he ension on he iming
bel ha connec he mo o and he bel pulley. A he lowe pa he e a e wo del in pa s ha
hold s aigh a od and a spindle. On he igh side o he pic u e o e his lines he e is he

46
componen ha in e up he op ical senso , when he mo o is on he spindle o ce ou piece
o ollow a linea displacemen and ha is used o iden i y i he s ing is coiled o no .
IV. Pape oll
The obo d aws on a pape ha shall be ad anced weekly. Fo make his p ocess easie we
p o ide a s uc u e on he op o he obo whe e a oll o pape can be a ached, in ha way
he ope a o can unclip he ends o he pape loca ed on he lowe pa o he cabine and pull
un il he pape is eplaced wi hou he need o use a ladde o each he op o he ee me e s
all obo .
Figu e 31 - Rende o he inal e sion o pape oll holde
This pa equi es o be locked au oma ically o a oid ha he isi o s pull down he pape . We
use a a che mechanism powe ed wi h he g a i y. The lea e has an asymme ical design, he
cen e o mass is di e en o he o a ion axis, his p oduce a o a ional o ce and make he
lea e engage wi h he cone limi ing he mo emen . When he ope a o wan s o pull down he
pape he only needs o hang a s ick ha is hidden on he lowe pa o he cabine o he ex e nal
pa o he la e , hen he cone can u n eely.
47
Figu e 32 - Pape oll moun ing, open posi ion a le hand side and lock posi ion a igh hand side.
The cone design allows o use pape olls wi h in e nal diame e s be ween 30 and 90mm, i ing
o he cus ome he lexibili y o choose be ween di e en b ands o pape olls.
Figu e 33 - Pape oll assembly in A -B is ol a ins alla ion day.
48
V. Guide pulleys
As he mo o s we e loca ed a he lowe pa o he obo inside he op pa o he cabine , we
needed o send he s ings o he op pa o he obo and a e ha edi ec hem o he
gondola. We mus design a pa ha gua an ee ha i somebody li he gondola he s ing will
con inue in he igh place wi hou ge ing s uck o e en wo s jumping ou making he gondola
all.
In addi ion, we we e in e es ed o keep he ension in he pa o he s ing ha come om he
mo o s o he pulley e en i he o he side, om pulley o he gondola, was loose. Tha will make
easie coil he s ing a ound he spool wi hou mis akes.
In he ini ial se ups we use wo ace al Pulley o 20 mm ha guide he s ings, hey wo k smoo hly
and does no p oduce dis o ion o he d awings bu whe e no able o keep he ension on he
mo o side. Tha make us hink abou implemen a piece ha p o ide enough ic ion o a oid
ha he s ing become lose on he mo o side i somebody li he gondola bu s ill le us o d aw
when he gondola is hanging.
We s a ed designing a MDF pla e whe e he pulley was a ached. A he side o he mo o we
pu wo M3 sc ews ha had a la su ace a he con ac poin wi h he s ing. We hough ha
changing he angle and numbe o u ns ha he s ing made a ound he sc ews will inc ease
he ic ion as in he climbing de ices used o appelling bu he esul s we e no clea .
We con inue wi h his p oblem and we y o use a Pe luo oalkoxy ube, be e known as PFA,
inside a MDF sandwich ins ead o sc ews. This design was mo e aes he ic and gua an y ha he
s ing does no jump ou o he place bu he esul s con inue wi hou be good enough and o
adjus he ic ion was necessa y o make a new piece.
The las expe imen ha we made o design a piece ha hold he ension o he s ing was a
CNC machined piece o del in wi h a zig-zag slo wi h se e al inpu s and ou pu s, in ha way we
we e able o adjus he ic ion easily choosing he numbe o u ns made a he in e io o he
piece.
49
Figu e 34 -Del in ension holde wi h adjus able ic ion
Wi h ha design we saw how pa o he ension emain a he mo o side wi hou become
undone bu we also de ec a dis o ion in he ci cula shapes. As we we e changed se e al
componen s and he posi ion o he mo o s he same day we hough ha he p oblem was wi h
he calib a ion, bu we igno e he p oblem o he momen . A e ew days o in ensi e es ing
we de ec damage on he co e o he s ing. We eplaced again his componen wi h he ini ial
pulleys and he dis o ion disappea ed.
Knowing abou his ulne abili y we decided o include a capaci i e senso in he gondola o
s op he mo ion i somebody ouch i and se he es posi ion a he op o he ame. The
pulleys whe e enclosed inside a Del in case ha allow o a ach hem o he Aluminium ex usion
and gua an ies ha he wi e does no ge s uck a he join s.
50
Figu e 35 - Del in enclosu e o he pulleys used o edi ec he s ing a he op pa o he obo
VI. Cha ging S a ion
As will be explained in sec ion 3.d he cha ging se up changed om an induc i e cha ging o a
egula cha ging, whe e he connec ions whe e physical.
This sys em has a dock on he op o he obo wi h wo a ms wi h a limi ed ange o mo emen ,
he obo is p econ igu ed o es a he cha ging s a ion making con ac wi h he cha ging pads
on he gondola.

51
Figu e 36 - Gondola a cha ging posi ion
The a ms o he cha ging s a ion can be adjus ed and he design o he gondola gua an y ha
he ba e y canno be sho -ci cui ed.
Fo gua an y he eliabili y o his mechanism we bypass he bea ings wi h wi es and Sil e
Conduc i e G ease was applied o con ac su ace o he cha ge and he pads o he gondola.
VII. Calib a ion ool
The design o he pen holde was made hinking abou he main enance. The pen change mus
be done once a week. Ou objec i e was make ha p ocedu e as easy as possible and a oid
changes in he obo , o ha eason he pen can be emo ed o he s uc u e bu an ex a
calib a ion ool was equi ed o adjus he leng h. I he pen is no placed p ope ly he quali y
o he d awings can dec ease o he ip can be always in con ac ega dless o he mo ion o he
Z axis.
52
Figu e 37 - Rende o he calib a ion ool o se he leng h o he pen
VIII. O he pa s
In addi ion o he main unc ional componen s o he obo we designed o he pa s ha we
conside ed no ele an enough o equi e a comple e sec ion on his memo y and ha e been
included on he Appendix VI o i ual esou ces. Some o hose componen s we e only used o
he p o o ypes o expe imen al se ups.
53
3.d Elec onics
I. PSU
Fo he obo we used wo RS p o powe supplies. The i s one is a 156W 1 Ou pu , Embedded
Swi ch Mode Powe Supply (SMPS), 24V dc, 6.5A and was used o d i e he mo o s. The second
one is a 54W powe supply o he same ype ha he i s one bu wi h o ou pu s o 5V,2A and
12V,6A dc.
Figu e 38 - Robo a ins alla ion day, BeagleBoneBlack and BBBBBB PBC on he le hand side, 24V PSU on he middle
and 12V PSU on he igh hand side.
II. BeagleBoneBlack
This is a low cos , open-ha dwa e and open-so wa e single-boa d compu e wi h an ac i e
communi y o use s and compa ible wi h Ubun u. F om he ha dwa e poin o iew, we ha e an
AM335x 1GHz ARM® Co ex-A8 p ocesso , 512MB DDR3 RAM, USB clien , USB hos , E he ne ,
HDMI, mic o-SD adap e , 92 I/O pins and wo P og ammable eal ime uni s (PRU).
54
Figu e 39 - Pic u e o BeagleBoneBlack by Ga e h Hal ac ee (22)
F om he 92 I/O a ailable we only use po P9.
1s unc
Pin numbe
1s unc
2nd unc
gnd
1
2
gnd
3.3
3
4
3.3
led:powe
5
5
6
5
bu :powe
9
10
bu :s op
11
12
bu : ese
gondola
cha ge
13
14
enable
pulled high/low & wi h
led
ys ep
15
16
ydi
xs ep
17
18
xdi
n/a
19
20
n/a
homex
21
22
homey
gpio1
23
24
xbee: x
gpio2
25
26
xbee: x
gpio3
27
28
7seg: le
gpio4
29
30
7seg: sdo
gpio5
31
32
7seg: clk
41
42
7seg:no _oe
se o:con ol
gnd
43
44
gnd
gnd
45
46
gnd
Figu e 40 - Pins used a BeagleBone o he obo and unc ions.
61
The boa d pass he inspec ion bu nei he ecei e o emi e p o ide he expec ed ou pu . In
he emi e wa e o ms shown on he oscilloscope had equency o 15KHz ins ead o he
750KHz equi ed. A e debugging o he design we canno iden i y he ailu e o he esonan
ci cui .
The esona o o he ansmi e was bypassed by an A duino Leona do gene a ing an ou pu
signal o 750KHz o ac i a e he MOSFETs and es he ecei e boa d.
The ecei e passes he same elec ical and isual quali y es han he ansmi e , bu when
he emi e was connec ed he beha iou was also di e en om wha we expec .
We un a mo e de ailed inspec ion. Values and o ien a ion o all he componen s was e iew,
simula ions we e made wi h LTspiceIV and he demo ci cui p o ided by LTC (25). The
simula ions help us o iden i y he signals and debug ou ci cui bu his e o was unsuccess ul.
And we swi ch o a mechanical solu ion. Weeks a e ins alla ion o he obo we iden i y a
design mis ake a he coil inpu o he ecei e and u he de elopmen is scheduled.
The mechanical design was simple om he elec ic poin o iew bu ha de o each he same
eliabili y. The dock s a ion shall be machined om a conduc i e ma e ial and he design shall
allow la e al adjus men and had mobile pa s o con ac wi h he gondola wi hou o ce he
mo o s i he e is a p oblem du ing he homing. Ou solu ion was build a dock wi h 10mm ac ylic
and place wo aluminium a ms on he op, his ma e ial was selec ed because was easy o
machine bu we conce n abou he quick oxida ion ha dec ease he conduc i i y. We es he
cha ging s a ion wi h aluminium a ms o a week wi h good esul s. Fu he es e eal ha a e
longe un he pads can de e io a e educing d as ically he pe o mance. Fo a oid ha
p oblem conduc i e sil e g ease (26) was placed a con ac su aces.
The mechanical sys em has wo elec odes ha come om he BBBBBB PCB and a e connec ed
o he a ms, he bea ing ha is used o join he mobile pa s is bypassed wi h a wi e o educe
conduc i i y issues. Cha ging pads whe e loca ed on he wings o he gondola. Those pins a e
link o he cha ging ci cui h ough a c ocodile connec o .

62
4. Plans
This sec ion con ains some o he mo e ep esen a i e plans o his p ojec and allow o ha e a
good idea o he numbe o elemen s and dis ibu ion. In appendix VI, and i ual esou ces
can be ound he plans o o he componen s, subassemblies and ailed p o o ypes..
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
7 4
6
3
5
21
8
8
8
NUMBER
ID
DESCRIPTION
QUANTITY
1
laye 0
Glue wi h
laye 1
1
2
laye 1
1
3
sc ew_adj
Glue wi h
laye laye 1
1
4
bolisopo emagne ico
_ 2.1
1
5
o med hex
sc ew_am
1
6
sc ew_limi
1
7
pen1
1
8
ISO 7046-1 - M3 x 25 -
Z --- 25N 2
1:2
14/07/2016
C.a
C.a. e_pen_leng h_se e :
Tap holes on 3 and 4 o
co esponden sc ew size. Glue 1,2 and 3.
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
2
3
5
6
4
1
E_cha ging:
Assembly on g ound be o e ins alla ion. Tap
hole o co esponden s sc ews. Use a 10mm bea ing
be ween 5,6 and 4,6.
NUMBER
ID QUANTITY
1
1300x60_ac ilic
1
2
suppo s ac ilic
2
3
230x40_ac ilic_ op
1
4
180x60_5mm_aluminu
m_a m_le
1
5
180x60_5mm_aluminu
m_a m_ igh
1
6
110x30_5mmaluminum
_doo
2
1:5
CS1.a
06/07/2016
F6
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
7
6
2
8
10
1
5
11
3
9
4
NUMBER
ID QUANTITY
1
base_ 2
1
2
bea ing_connec o _30
mm_ 2
1
3
make slide 100mm
1
4
sopo e odamien os_
21
5
guiale a_6mm
1
6
bolisopo emagne ico
_ 2
1
7
pen1
1
8
wings_bea ing_55mm
2
9
slide _ op_co e
1
10
bea ing30_55
2
11
G5.sa
3
1:2
G5.a
04/07/2016
E_gondola_ 3:
Ex a scews a e equi ed o piece 2. Th eaded oad
o 5cm shall be sc ewed o bo h o 8componen s. Ve i y push i s
be ween 8 and 10. I i is equi ed sc ew piece 5 o 4. Glue magne s
on socke o piece 4. Tap holes when equi ed.

Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
5
4
3
1
2
6
7
NUMBER
ID QUANTITY
1
m8_ a illa_1000mm
1
2
sopo e_liso_ 2
1
3
sopo e_ anu as
1
4
la e al_ 4
1
5
palanca_ eno
1
6
h_beam_holde
1
7
la e al_ 3_izq
1
1:5
14/07/2016
P.a
Epape _ oll_ 3:
secu e componen s wi h nu s when equi ed.
Use 10mm bea ing a a achmen poin be ween 5 and 4.
73
5. Budge
AT-B is ol science museum ini ially app oached us wi h a budge o £2000. We did some
p ojec ions and esponded wi h a eques o £3000 combined wi h a p o ision o ex e nal
sponso ship. The p ojec would be unde aken i an indus ial pa ne could be ound o
con ibu e an addi ional £1000. RS componen s ag eed o sponso he p ojec wi h ma e ials
om hei ca alogue.
I was unde s ood ha he p ojec was unde unded, bu he oppo uni y o ha e a la ge p ojec
in he oye o one o he UK's la ges science museums was deemed o be wo h he los money
in paymen o labou . Fo his eason, Ma Venn enginee ing accep ed a ound a 3x educ ion
in paymen .
In mid July, we became conce ned wi h he p ojec ed cos o he ame. Andy (senio enginee )
a he museum had speci ied a minimum equi emen o he s eng h o he ame which mean
he o al cos o ma e ials (including labou ) inc eased o £1400. The museum ag eed o inc ease
hei paymen o £3600, and RS ag eed o inc ease hei ma e ial budge o £1500.
The p ojec was comple ed on ime wi h a small su plus o £170, which will be used o ongoing
main enance cos s.
Desc ip ion
Da e
Ca ego y
Cos (£)
Cos (€)
beaglebone black
12/05/2016
Non RS
ma e ials
60,00£
69,00 €
s eppe d i e s d 8825
12/05/2016
Non RS
ma e ials
20,00£
23,00 €
pulleys, ap & die, op os
12/05/2016
Non RS
ma e ials
100,00£
115,00 €
dyneema s ing
18/05/2016
Non RS
ma e ials
20,00£
23,00 €
A u o - pcb design
18/05/2016
Time
150,00£
172,50 €
c imp ool, op os, loc i e, g ub
sc ews, eme g s op
19/05/2016
RS
ma e ials
100,00£
115,00 €
wood o ull size p o o ype
22/05/2016
Non RS
ma e ials
50,00£
57,50 €
cha ge / ecei e p o o ype pcbs
25/05/2016
Non RS
ma e ials
18,00£
20,70 €
componen s o cha ge , s ip
ools, end mills, ally
01/06/2016
RS
ma e ials
220,00£
253,00 €
psu, mo o s, bbbbbb, del in
16/06/2016
RS
ma e ials
330,00£
379,50 €
mo edis o de o leadsc ews, nu s
& bea ings
22/06/2016
Non RS
ma e ials
63,48£
73,00 €
nu s & bol s
22/06/2016
Non RS
ma e ials
73,00£
83,95 €
pcb gondola
22/06/2016
Non RS
ma e ials
21,00£
24,15 €
bbb pcb
25/06/2016
Non RS
ma e ials
60,00£
69,00 €
pape & pens
01/07/2016
Non RS
ma e ials
48,54£
55,82 €
74
aluminium saw blade
01/07/2016
Non RS
ma e ials
28,54£
32,82 €
e u n ligh s o UK
01/07/2016
Expenses
230,00£
264,50 €
la hams o de wood o ame
04/07/2016
Non RS
ma e ials
213,60£
245,64 €
plas ock o de plas ic o ame
05/07/2016
Non RS
ma e ials
266,64£
306,64 €
gondola, wi e and PCB pa s
06/07/2016
RS
ma e ials
140,00£
161,00 €
Nic - ame build & ins alla ion 2
days
18/07/2016
Time
300,00£
345,00 €
Jon - ins alla ion & main enance 1
day
18/07/2016
Time
150,00£
172,50 €
ame o de
20/07/2016
RS
ma e ials
618,00£
710,70 €
Guillem - design, p o o yping, build
- 30 days
01/08/2016
Time
304,35£
350,00 €
Ma - p ojec lead - 30 days
01/08/2016
Time
1.200,00£
1.380,00 €
Ma 's UK expenses
01/08/2016
Expenses
150,00£
172,50 €
Table 3 - Budge componen s by da e
Financial summa y
Cos (£)
Cos (€)
Non RS ma e ials
942,80£
1.084,22 €
RS ma e ials
1.508,00£
1.734,20 €
Time
2.104,35£
2.420,00 €
Expenses
380,00£
437,00 €
To al wi hou RS suppo
4.935,15£
5.675,42 €
To al including RS suppo
3.427,15£
3.941,22 €
@b is ol paymen
3.600,00£
4.140,00 €
P ojec su plus
172,85£
198,78 €
Table 4 - Financial summa y
75
Figu e 49 - Budge dis ibu ion by ca ego y
Es ima ed budge o second uni
Ma e ials
2.450,80£
2.818,42 €
Time
1.354,35£
1.557,50 €
Expenses
380,00£
437,00 €
To al
4.185,15£
4.812,92 €
Figu e 50 - P oposed budge o second uni o he obo
19%
30%
43%
8%
Budge dis ibu ion (%) o o al
Non RS
ma e ials
RS ma e ials
Time
82

83
APPENDIX I, QUICK SETUP USER
MANUAL
84
Use manual and main enance ope a ions
Re .27_07_2016
Gene al ope a ions
 Powe o
1. Open cabine
2. P ess sil e bu on
3. Wai ill all blue ligh s on he BeagleBone go ou
4. P ess he ex e nal powe bu on
5. All ligh s inside he cabine should be o
 Powe up
1. P ess ex e nal powe bu on
2. Open cabine
3. Wai un il big digi s ligh up wi h cu en ene gy use
4. P ess he sil e bu on - obo will s a homing
5. Be eady o p ess he eme gency s op bu on i he e is a p oblem
Scheduled main enance
 Change pen
o Powe o he obo
o Remo e he pencil and he magne ic suppo oge he
o Remo e he pen
o Place he suppo in he socke o he calib a ion ool
o Place he new pen, and se he leng h. Tip shall make con ac wi h he limi
sc ew
o Tu n he adjus men sc ew un il pen is cen e ed and i mly a ached
o Place back he suppo and he assembly on he gondola
 Ad ance pape
o Open he cabine
o Remo e he clips ha a e holding he pape
o A ach he s ick ha is loca ed a he in e io o he cabine o he handle o
he pape oll mechanism
o Pull he pape ca e ully owa ds you.
o Replace he clips
o Remo e s ick and s o e in he cabine
85
 Pape change
o Tools:
 2 x 13mm spanne s
 S eps
 2 people
 Pape elease s ick
o Supply in o ma ion on pape oll:
h ps://www.p izmag aphics.co.uk/uncoa ed-plo e -pape /plo e -pape -
54quo -1372mm-x-50m-90gsm- oll
o Expec o be eplaced wice a yea
 O he asks
o Twice a yea g easing he lead sc ews. Migh be nice a he pape change.
T oubleshoo ing
 Robo is d awing in he w ong place
o Shu down and u n on he obo . I he e s ill a p oblem, call Local
main enance esponsible.
 Robo won’ s a up o shu down
o Call Remo e main enance esponsible.
 Robo is unexpec edly o
o I all he blue ligh s a e o , bu he g een ligh s a e on, disconnec main powe
connec o loca ed a he back side and y o s a up like no mal.
o O he wise con ac local main enance esponsible.
 Ene gy obo dashboa d
o Use ul o moni o ing he ba e y le el o he gondola and o he pa ame e s.
h p:// eeboa d.cu si eda a.co.uk/index.h ml?load=dashboa d.json
 Gondola LEDs
o RED LED licke ing shows communica ion wi h compu e sys em.
o BLUE LED ligh & RED LED o = Cha ging ba e y
o RED LED on = D aw mode
O he Resou ces
 Educa ional Video
o The day o day ac i i ies.
h p://www.you ube.com/wa ch? =W1kAjR_QbOw
86
 Con ac de ails o Main enance Suppo :
o Jon Pillai, Local main enance: [email protected] 07825661773
o Ma hew Venn, Remo e main enance: ma @ma enn.ne 01290 211 185
87

88
89
APPENDIX II, MATLAB CODE
90
calc.m
%This un ion p o ide he ension o wo s ings ixed a poin s
%p1(0,Ymax) and p2(xmax,ymax)holding he weig h o an objec a any poin
%o he 2D space.
%(le )Wi ep1: T1,al a
%( igh )Wi ep2: T2,be a
%in oduce weig h in g ams and dimensions in cen ime e s
unc ion [ 1, 2] = calc(w,xmax,ymax,xpos,ypos)
=w/1000*9.80665;
al a=a an((ymax-ypos)/xpos);
be a=a an((ymax-ypos)/(xmax-xpos));
1= /(sin(al a)+(cos(al a)/cos(be a))*sin(be a));
2= 1*(cos(al a)/cos(be a));
end
calc.m%This un ion e u n wo ma ix o 1 cm esolu ion co esponding o
% he ensions o wo s ings ixed a poin s
%p1(0,Ymax) and p2(xmax,ymax)holding he weig h o an objec a any poin
%o he 2D space.
%le side-> Wi ep1: T1,gamma, 1 alues
% igh side->Wi ep2: T2, e a, 2 alues
%in oduce weig h in g ams and dimensions in cen ime e s
unc ion [ 1 alues , 2 alues]= ma (w,xmax,ymax)
1 alues= ze os(xmax-1,ymax-1);
2 alues= ze os(xmax-1,ymax-1);
o i = (ymax-1):-1:1
o j=1:(xmax-1)
[a,b]= calc(w,xmax,ymax,j,i);
91
1 alues(i,j)=a;
2 alues(i,j)=b;
end
end
end
pmap.m
%This un ion p o ide a map wi h a esolu ion o 1 uni
%wi h he maximum ensions o wo s ings ixed a poin s
%p1(0,Ymax) and p2(xmax,ymax)holding he weig h o an objec a any poin
%o he 2D space.
%maximum ensions ma ix is e u ned.
%Wi ep1: T1,gamma
%Wi ep2: T2, e a
%in oduce weig h in g ams and dimensions in cen ime e s
%Dependence o
%h p://www.ma hwo ks.com/ma labcen al/ ileexchange/24253-cus omizable-hea -
maps/con en /h ml/hea map_examples.h ml
unc ion [ max]= pmap(w,xmax,ymax)
max= ze os(ymax-1,xmax-1);
%calcula e alues o wo ensions
[ 1 alues , 2 alues]= ma (w,xmax,ymax);
%ge maximum and e e se yaxis
o i = 1:(ymax-1)
o j=1:(xmax-1)
a= 1 alues(i,j);
b= 2 alues(i,j);
max(ymax-i,j)= max([a b]);
98
%cen e down
end
pa am1calc.m
% his unc ion e u n he minimum ope equi ed o each side
% he equi alen in linea leng h o each s ep and he numbe o u ns
% equi ed o oll all he ope.
%min ope,xmax,ls ep, ymax in cen ime e s
%d od and e o in mm
%as ep in ad
unc ion [min ope,ls ep,as ep,n u ns]= pa am1calc(xmax,ymax,d od,s eps)
%minimum amoun o ope hanging om mo o
min ope = sq (xmax^2+ymax^2);
%angle o a s ep ad
as ep= ((2*pi)/s eps);
%a c ope leng h. This limi a e he esolu ion
ls ep=((d od/2)*as ep)/10;
%numbe o u ns equi ed o min ope
n u ns= (min ope*10)/(2*pi*(d od/2));
end
posangles.m
unc ion [ x,y,al,be,ga] =posangles(xmax,ymax,l1,l2)
%Posi ionxy e u n he exac posi ion gi en he leng hs o he iangle
% Fo his p ocedu e is used cosine heo em
i (l1+l2)<base

99
display('E o inpu L1,L2 shall be g ea e han base')
else
a=base;
b=l1;
c=l2;
syms al be gam;
% a^2=b^2+c^2-2*b*c*cos(al a);
%b^2=a^2+c^2-2*a*c*cos(be a);
%c^2=a^2+b^2-2*a*b*cos(gamma);
es=sol e([a^2==b^2+c^2-2*b*c*cos(al ),b^2==a^2+c^2-
2*a*c*cos(be ),al +be +gam==pi,al >0,be >0,gam>0], [al ,be ,gam]);
al= es.al ;
be= es.be ;
ga= es.gam;
end
[x,y]=posi ionxy(xmax,ymax,l1,l2);
end
posi ionxy.m
unc ion [x,y] =posi ionxy(xmax,ymax,l1,l2)
%Posi ionxy e u n he exac posi ion gi en he base coo dina es and
%leng hs o wi es
% Fo his p ocedu e is used cosine heo em
base=xmax;
i (l1+l2)<base
display('E o inpu L1,L2 shall be g ea e han base')
else
a=base;
100
b=l1;
c=l2;
=0.5*sq ((a+b-c)*(a-b+c)*(-a+b+c)*(a+b+c));
y= /a;
al a=asin(y/l1);
x=cos(al a)*b;
y=ymax-y;
%Debugg plo
%hold on;
%plo (0,0,'d')
%plo (base,0,'d')
%plo (x,-y,'d')
%hold o ;
end
end
posmap.m
% his unc ion p o ide a map o he 3d space o isosceles con ig
%min ope,xmax, ymax in cen ime e s
%ls ep,d od and e o in mm
%all angles in ad
unc ion [y]= posmap(xmax,ymax,d od,s eps,e o )
lbase=xmax/2;
[min ope,ls ep,as ep,n u ns]= pa am1calc(xmax,ymax,d od,s eps);
axis([0,xmax,0,ymax])
ql1=(0:ls ep:min ope);
y=ze os(1,leng h(ql1));
%calcula posibles al u as
101
o i=1:leng h(ql1)
a=xmax/2;
c=ql1(1,i);
y(1,i)=sq ((c^2)-(a^2));
%debido a que el o igen de co denadas se encuen a en la esquina
%in e io izquie da lo asladamos al sis ema global
y(1,i)=ymax-y(1,i);
hold on;
plo (lbase/2,y(1,i),'d')
i (y(1,i)<0)
b eak;
end
end
hold o ;
end
possim1.m
unc ion []= possim1(xmax,ymax,d od,s eps,home 1,home 2,s epe ,pos)
%In oduci xmax, ymax,d od,s eps
%In oduci homing e o
%In oduci ma iz de pun os
%pos = [x0 x1 x2 ... xn; y0 y1 y2 ... yn]
%pos=
% x0 x1 x2 .... xn
% y0 y1 y2 .... yn
%Ob ene pun os caso ideal
%Ob ene pun os cuan ización
%Ob ene pun os cuan ización mas homing e o and s ep e o
102
[min ope,ls ep,~,~]= pa am1calc(xmax,ymax,d od,s eps);
%leng hs in ideal case bu quan izied
l1=(0:ls ep:min ope);
l2=l1;
%s ep e o ec o
ea=s epe ;
eb=-s epe ;
s epe = (eb-ea).* and(1,leng h(l1)) + ea;
%homing e o
l1e =(home 1:ls ep:min ope+home 1);
l2e =(home 2:ls ep:min ope+home 2);
% o al e o
l1e =l1e +s epe ;
l2e =l2e +s epe ;
%plo s code
hold on;
xlabel('x')
ylabel('y')
axis([0 xmax -0.25*ymax ymax])
%blue - ideal poin s
[~,wid h]=size(pos);
o i=1:wid h
ideal=plo (pos(1,i),pos(2,i),'bd');
end
%quan izied posi ion and e o posi ions
[~,wid h]=size(pos);
o i=1:wid h
[ la1,la2] =in e seposi ion(xmax,ymax,pos(1,i),pos(2,i));
103
= l1;
al = la1; % alue o ind
mp = abs( - al);
[~, idx1] = min( mp); %index o closes alue
l1 emp = (idx1); %closes alue
al = la2; % alue o ind
mp = abs( - al);
[~, idx2] = min( mp); %index o closes alue
l2 emp = (idx2); %closes alue
% ed - plo o quan ized leng hs
[x emp,y emp]=posi ionxy(xmax,ymax,l1 emp,l2 emp);
quan =plo (x emp,y emp,' ^');
%black - plo o quan ized leng hs + e o s
l1 emp=l1e (idx1);
l2 emp=l2e (idx2);
[x emp,y emp]=posi ionxy(xmax,ymax,l1 emp,l2 emp);
equan =plo (x emp,y emp,'k*');
end
legend([ideal,quan ,equan ],'ideal','quan ized',' o al')
hold o ;
end
ianglexy.m
unc ion [x,y] = ianglexy(base,l1,l2)
%Posi ionxy e u n he exac posi ion gi en he leng hs o he iangle
% Fo his p ocedu e is used cosine heo em
% be awa e when is used o simula e he obo he base is NOT loca ed a
% x=0,y=0 !

104
i (l1+l2)<base
display('E o inpu L1 + L2 shall be g ea e han base')
else
a=base;
b=l1;
c=l2;
=0.5*sq ((a+b-c)*(a-b+c)*(-a+b+c)*(a+b+c));
y= /a;
al a=asin(y/l1);
x=cos(al a)*b;
%Debugg plo
%hold on;
%plo (0,0,'d')
%plo (base,0,'d')
%plo (x,y,'d')
%holsd o ;
end
end
quad calc.m
%This un ion p o ide he ension:
%O FOUR s ings
% wo s ings ixed be ween poin s
%p1(0,Ymax) and p2(xmax,ymax) and cen e o he basque
% wo s ings ixed be ween poin s
%cen e o he baske and weigh s a co ne s
%bo h wig hs a e equal. The o al s abilize s weig h is ws ab
%(le -up)Wi ep1: T1,al a
105
%( igh -up)Wi ep2: T2,be a
%(le -down)Wi ep3: T3,gamma,ws ab
%( igh -down)Wi ep4: T4, he a,ws ab
%in oduce weig h in g ams and dimensions in cen ime e s
% e isa exp esiones modelo
unc ion [ 1, 2, 3, 4] = quad calc(wbaske ,ws ab,xmax,ymax,xpos,ypos)
o =(wbaske +ws ab)/1000*9.80665;
s ab=ws ab/1000*9.80665;
al a=a an((ymax-ypos)/xpos);
be a=a an((ymax-ypos)/(xmax-xpos));
1= o /(sin(al a)+(cos(al a)/cos(be a))*sin(be a));
2= 1*(cos(al a)/cos(be a));
gamma=a an(ypos/xpos);
he a=a an(ypos/(xmax-xpos));
3=( s ab/2);
4=( s ab/2);
% 3= s ab/(sin(gamma)+(cos(gamma)/cos( he a))*sin( he a));
% 4= 3*(cos( he a)/cos( he a));
end
quadma .m
%This un ion e u n wo ma ix o 1 uni esolu ion co esponding o ensions:
%O FOUR s ings
% wo s ings ixed be ween poin s
%p1(0,Ymax) and p2(xmax,ymax) and cen e o he basque
% wo s ings ixed be ween poin s
%cen e o he baske and weigh s a lowe co ne s
%bo h wig hs a e equal. The o al s abilize s weig h is ws ab
%(le -up)Wi ep1: T1,al a
106
%( igh -up)Wi ep2: T2,be a
%(le -down)Wi ep3: T3,gamma,ws ab
%( igh -down)Wi ep4: T4, he a,ws ab
%in oduce weig h in g ams and dimensions in cen ime e s
unc ion [ 1 alues , 2 alues, 3 alues, 4 alues]= quad ma (w,ws ab,xmax,ymax)
1 alues= ze os(xmax-1,ymax-1);
2 alues= ze os(xmax-1,ymax-1);
3 alues= ze os(xmax-1,ymax-1);
4 alues= ze os(xmax-1,ymax-1);
o i = (ymax-1):-1:1
o j=1:(xmax-1)
[a,b,c,d]=quad calc(w,ws ab,xmax,ymax,j,i);
1 alues(i,j)=a;
2 alues(i,j)=b;
3 alues(i,j)=c;
4 alues(i,j)=d;
end
end
end
quad o al pmap.m
%This un ion p o ide a map wi h a esolu ion o 1 uni
%wi h he o al ension o :
%O FOUR s ings
% wo s ings ixed be ween poin s
%p1(0,Ymax) and p2(xmax,ymax) and cen e o he basque
% wo s ings ixed be ween poin s
%cen e o he baske and weigh s a lowe co ne s
%bo h wig hs a e equal. The o al s abilize s weig h is ws ab
107
%(le -up)Wi ep1: T1,al a
%( igh -up)Wi ep2: T2,be a
%(le -down)Wi ep3: T3,gamma,ws ab
%( igh -down)Wi ep4: T4, he a,ws ab
%in oduce weig h in g ams and dimensions in cen ime e s
%Dependence o
%h p://www.ma hwo ks.com/ma labcen al/ ileexchange/24253-cus omizable-hea -
maps/con en /h ml/hea map_examples.h ml
unc ion [ max]= quad o al pmap(w,ws ab,xmax,ymax)
o al= ze os(ymax-1,xmax-1);
%calcula e alues o ensions
[ 1 alues , 2 alues, 3 alues, 4 alues]= quad ma (w,ws ab,xmax,ymax);
%ge maximum and e e se yaxis
o i = 1:(ymax-1)
o j=1:(xmax-1)
a= 1 alues(i,j);
b= 2 alues(i,j);
c= 3 alues(i,j);
d= 4 alues(i,j);
o al(ymax-i,j)= a+b+c+d;
end
end
%plo maximum
xlab=1:1:xmax;
ylab=ymax:-1:1;
cl
hea map( o al, xlab, ylab, '%0.2 ', 'Colo map', ' ed',...
'Colo ba ', ue, 'Colo Le els',
100,'MaxColo Value',(w+ws ab)/1000*9.80665*2.5);
114

115
116
117
APPENDIX IV, MACHINEKIT CODE
MODIFICATIONS
118
Bipod.hal
# #######################################
#
# HAL ile o BeagleBone + BeBoP cape wi h 4 s eppe s
#
# De i ed om example hm2-s eppe con ig
#
# ########################################
# Launch he se up sc ip o make su e ha dwa e se up looks good
loadus -w ./se up.sh
loadus -W xbee.py 20
# ###################################
# Co e EMC/HAL Loads
# ###################################
# kinema ics
# load i kins
load bipodkins
se p bipodkins.Bx 2140 # 2200 wide - 60 o he pulleys
# mo ion con olle , ge name and h ead pe iods om ini ile
# ajec o y planne
load p
load [EMCMOT]EMCMOT se o_pe iod_nsec=[EMCMOT]SERVO_PERIOD
num_join s=[TRAJ]AXES p= p kins=bipodkins
#load [EMCMOT]EMCMOT se o_pe iod_nsec=[EMCMOT]SERVO_PERIOD
#load h eads name3=xbee- h ead pe iod3=50000000 # 50ms, xbee akes max 25ms
# load low-le el d i e s
#load hal_bb_gpio ou pu _pins=816,822,823,824,825,826,923,925
inpu _pins=807,808,809,810,817,911,913,922,921
load hal_bb_gpio ou pu _pins=914 inpu _pins=922,921,911
load [PRUCONF](DRIVER) p ucode=$(HAL_RTMOD_DIR)/[PRUCONF](PRUBIN)
[PRUCONF](CONFIG) halname=hpg p u_pe iod=4000
load limi 1 coun =2
# ################################################
# THREADS
# ################################################
add hpg.cap u e-posi ion se o- h ead
add bb_gpio. ead se o- h ead
add mo ion-command-handle se o- h ead
add mo ion-con olle se o- h ead
add limi 1.0 se o- h ead
add limi 1.1 se o- h ead
add hpg.upda e se o- h ead
add bb_gpio.w i e se o- h ead
#add xbee xbee- h ead
# ######################################################
# Axis-o -mo ion Speci ic Con igs (no he GUI)
# ######################################################
# ################
# X [0] Axis
# ################
119
# axis enable chain
newsig emcmo .00.enable bi
se s emcmo .00.enable FALSE
ne emcmo .00.enable <= axis.0.amp-enable-ou
ne emcmo .00.enable => hpg.s epgen.00.enable
# posi ion command and eedback
ne emcmo .00.pos-cmd <= axis.0.mo o -pos-cmd
ne emcmo .00.pos-cmd => hpg.s epgen.00.posi ion-cmd
ne mo o .00.pos- b <= hpg.s epgen.00.posi ion- b
ne mo o .00.pos- b => axis.0.mo o -pos- b
# iming pa ame e s
se p hpg.s epgen.00.di se up [AXIS_0]DIRSETUP
se p hpg.s epgen.00.di hold [AXIS_0]DIRHOLD
se p hpg.s epgen.00.s eplen [AXIS_0]STEPLEN
se p hpg.s epgen.00.s epspace [AXIS_0]STEPSPACE
se p hpg.s epgen.00.posi ion-scale [AXIS_0]SCALE
se p hpg.s epgen.00.max el [AXIS_0]STEPGEN_MAX_VEL
se p hpg.s epgen.00.maxaccel [AXIS_0]STEPGEN_MAX_ACC
#se p hpg.s epgen.00.s ep_ ype 0
se p hpg.s epgen.00.s eppin 917
se p hpg.s epgen.00.di pin 918
# ################
# Y [1] Axis
# ################
# axis enable chain
newsig emcmo .01.enable bi
se s emcmo .01.enable FALSE
ne emcmo .01.enable <= axis.1.amp-enable-ou
ne emcmo .01.enable => hpg.s epgen.01.enable
# posi ion command and eedback
ne emcmo .01.pos-cmd <= axis.1.mo o -pos-cmd
ne emcmo .01.pos-cmd => hpg.s epgen.01.posi ion-cmd
ne mo o .01.pos- b <= hpg.s epgen.01.posi ion- b
ne mo o .01.pos- b => axis.1.mo o -pos- b
# iming pa ame e s
se p hpg.s epgen.01.di se up [AXIS_1]DIRSETUP
se p hpg.s epgen.01.di hold [AXIS_1]DIRHOLD
se p hpg.s epgen.01.s eplen [AXIS_1]STEPLEN
se p hpg.s epgen.01.s epspace [AXIS_1]STEPSPACE
se p hpg.s epgen.01.posi ion-scale [AXIS_1]SCALE
se p hpg.s epgen.01.max el [AXIS_1]STEPGEN_MAX_VEL
se p hpg.s epgen.01.maxaccel [AXIS_1]STEPGEN_MAX_ACC
#se p hpg.s epgen.01.s ep_ ype 0
se p hpg.s epgen.01.s eppin 915

120
se p hpg.s epgen.01.di pin 916
# ################
# Z [2] Axis
# ################
se p xbee.scale 20
ne zpos axis.2.mo o -pos-cmd => xbee.pos axis.2.mo o -pos- b
# ##################################################
# S anda d I/O - ES op, Enables, Limi Swi ches, E c
# ##################################################
# C ea e es op signal chain
# D i e so wa e es op o ha dwa e
#ne es op-ou iocon ol.0.use -enable-ou => bb_gpio.p8.ou -26
#se p bb_gpio.p8.ou -26.in e 1
# Moni o es op inpu om ha dwa e
ne es op-loop bb_gpio.p9.in-11 => iocon ol.0.emc-enable-in
#se p bb_gpio.p8.in-17.in e 1
# Axis enable signal (ac i e low)
ne emcmo .00.enable => bb_gpio.p9.ou -14
#se p bb_gpio.p9.ou -14.in e 1
# ################
# Limi Swi ches
# ################
newsig home-x bi
newsig home-y bi
ne home-x <= bb_gpio.p9.in-21
ne home-y <= bb_gpio.p9.in-22
# Uncommen i you ac ually ha e limi swi ches se up
# You p obably wan o se up homing in he INI ile, as well
ne home-x => axis.0.home-sw-in
ne home-y => axis.1.home-sw-in
Bipod.ini
[PRUCONF]
DRIVER=hal_p u_gene ic
CONFIG=p u=0 num_s epgens=3
PRUBIN=xenomai/p u_gene ic.bin
[EMC]
# Name o machine, o use wi h display, e c.
MACHINE = Bipod
# Debug le el, 0 means no messages. See s c/emc/nml_in /emcglb.h o o he s
#DEBUG = 0x00000003
DEBUG = 0x00000007
#DEBUG = 0
[DISPLAY]
# Name o display p og am, e.g., kemc
121
#DISPLAY = axis
DISPLAY = ./bipod.py
# Cycle ime, in seconds, ha display will sleep be ween polls
CYCLE_TIME = 0.200
# Pa h o help ile
HELP_FILE = klinucnc. x
# Ini ial display se ing o posi ion, RELATIVE o MACHINE
POSITION_OFFSET = RELATIVE
# Ini ial display se ing o posi ion, COMMANDED o ACTUAL
POSITION_FEEDBACK = ACTUAL
# Highes alue ha will be allowed o eed o e ide, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.5
# P e ix o be used
PROGRAM_PREFIX = /home/machineki /machineki /nc_ iles
# Inc emen s o he JOG sec ion
INCREMENTS = 10 1 0.1 0.01
[TASK]
# Name o ask con olle p og am, e.g., mill ask
TASK = mill ask
# Cycle ime, in seconds, ha ask con olle will sleep be ween polls
CYCLE_TIME = 0.010
[RS274NGC]
# File con aining in e p e e a iables
PARAMETER_FILE = p u-s eppe . a
[EMCMOT]
EMCMOT = mo mod
# Timeou o comm o emcmo , in seconds
COMM_TIMEOUT = 1.0
# In e al be ween ies o emcmo , in seconds
COMM_WAIT = 0.010
# Se o ask pe iod, in nanoseconds
SERVO_PERIOD = 500000
[HAL]
# The un sc ip i s uses halcmd o execu e any HALFILE
# iles, and hen o execu e any indi idual HALCMD commands.
# lis o hal con ig iles o un h ough halcmd
# iles a e execu ed in he o de in which hey appea
HALFILE = bipod.hal
# lis o halcmd commands o execu e
# commands a e execu ed in he o de in which hey appea
122
#HALCMD = sa e ne a
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = deg ee
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100.00
MAX_LINEAR_VELOCITY = 200.00
MAX_ACCELERATION = 400
# lo s o join ollowing e o s un il I added his:
DEFAULT_ACCELERATION = 200
[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 400
# Se S epgen max 20% highe han he axis
STEPGEN_MAX_VEL = 300.0
STEPGEN_MAX_ACC = 1200.0
BACKLASH = 0.000
SCALE = -25.46
MIN_LIMIT = 150.0
MAX_LIMIT = 2600.0
FERROR = 1.0
MIN_FERROR = 0.25
HOME = 1500
HOME_OFFSET = 1500
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = -10.0
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
# Se o ze o i you don' ha e physical home/limi swi ches
# Se o he desi ed homing and la ch eloci y i you ha e swi ches
# See: h ps://gi hub.com/machineki /machineki -docs
# hese a e in nanoseconds
DIRSETUP = 2000
DIRHOLD = 2000
STEPLEN = 10000
STEPSPACE = 10000
[AXIS_1]
TYPE = LINEAR
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 400.0
# Se S epgen max 20% highe han he axis
STEPGEN_MAX_VEL = 300.0
STEPGEN_MAX_ACC = 1200.0
BACKLASH = 0.000
# dec easing scale inc eases leng h pe s ep
SCALE = -25.46
123
MIN_LIMIT = 150.0
MAX_LIMIT = 2600.0
FERROR = 1.0
MIN_FERROR = 0.25
HOME = 1515
HOME_OFFSET = 1515
HOME_SEARCH_VEL = -50.0
HOME_LATCH_VEL = -10.0
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
# Se o ze o i you don' ha e physical home/limi swi ches
# Se o he desi ed homing and la ch eloci y i you ha e swi ches
# See: h ps://gi hub.com/machineki /machineki -docs
# hese a e in nanoseconds
DIRSETUP = 2000
DIRHOLD = 2000
STEPLEN = 10000
STEPSPACE = 10000
[AXIS_2]
TYPE = LINEAR
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
# Se S epgen max 20% highe han he axis
STEPGEN_MAX_VEL = 200.0
STEPGEN_MAX_ACC = 400.0
MIN_LIMIT = -1
MAX_LIMIT = 8.9
FERROR = 1.0
MIN_FERROR = 0.5
HOME = 8
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
[EMCIO]
# Name o IO con olle p og am, e.g., io
EMCIO = io
# cycle ime, in seconds
CYCLE_TIME = 0.100
# ool able ile
TOOL_TABLE = ool. bl
130
i (a gc != 2 || 1 != sscan (a g [1], "%l ", &Bx)) {
p in (s de , "syn ax: %s Bx n", a g [0]);
e u n 1;
}
while (! eo (s din)) {
i (in e se) {
p in ("in > ");
}
else {
p in (" wd> ");
}
lush(s dou );
i (NULL == ge s(bu e , BUFFERLEN, s din)) {
b eak;
}
i (1 != sscan (bu e , "%s", cmd)) {
con inue;
}
i (! s cmp(cmd, "qui ")) {
b eak;
}
i (! s cmp(cmd, "i")) {
in e se = 1;
con inue;
}
i (! s cmp(cmd, " ")) {
in e se = 0;
con inue;
}
i (! s cmp(cmd, " ")) {
i (1 != sscan (bu e , "%*s %d", & lags)) {
p in ("need o wa d lag n");
}
con inue;
}
i (in e se) { /* in e se kins */
i (3 != sscan (bu e , "%l %l %l ",
&pos. an.x,
&pos. an.y,
&pos. an.z)) {
p in ("need X Y Z n");
con inue;
}
i (0 != kinema icsIn e se(&pos, join s, NULL, & lags)) {
p in ("in e se kin e o n");
}
else {
p in ("% % % n", join s[0], join s[1], join s[2]);
i (0 != kinema icsFo wa d(join s, &pos, & lags, NULL)) {
p in (" o wa d kin e o n");
}
else {
p in ("% % % n", pos. an.x, pos. an.y, pos. an.z);
}
}
}
else { /* o wa d kins */
i ( lags) {
i (4 != sscan (bu e , "%l %l %l %d",
&join s[0],
&join s[1],
&join s[2],
& lags)) {
p in ("need 3 s u alues and lag n");

131
con inue;
}
}
else {
i (3 != sscan (bu e , "%l %l %l ",
&join s[0],
&join s[1],
&join s[2])) {
p in ("need 3 s u alues n");
con inue;
}
}
i (0 != kinema icsFo wa d(join s, &pos, & lags, NULL)) {
p in (" o wa d kin e o n");
}
else {
p in ("% % % n", pos. an.x, pos. an.y, pos. an.z);
i (0 != kinema icsIn e se(&pos, join s, NULL, & lags)) {
p in ("in e se kin e o n");
}
else {
p in ("% % % n", join s[0], join s[1], join s[2]);
}
}
}
} /* end while (! eo (s din)) */
e u n 0;
}
#endi /* MAIN */
#i de RTAPI
#include " api.h" /* RTAPI eal ime OS API */
#include " api_app.h" /* RTAPI eal ime module decls */
#include "hal.h"
s a ic kins_ k = {
.kinema icsFo wa d = kinema icsFo wa d,
.kinema icsIn e se = kinema icsIn e se,
.kinema icsType = kinema icsType
};
MODULE_LICENSE("GPL");
s a ic cons cha *name = "bipodkins";
in comp_id, able_id;
in api_app_main( oid) {
in es = 0;
comp_id = hal_ini ("bipodkins");
i (comp_id < 0) e u n comp_id;
halda a = hal_malloc(sizeo (*halda a));
i (!halda a) go o e o ;
Bx = 1.0;
i (( es = hal_pa am_ loa _new("bipodkins.Bx", HAL_RW, &halda a->bx,
comp_id)) < 0) go o e o ;
able_id = hal_expo _ able(name, VTKINEMATICS_VERSION1, & k, comp_id);
i ( able_id < 0) {
api_p in _msg(RTAPI_MSG_ERR,
"%s: ERROR: hal_expo _ able(%s,%d,%p) ailed: %d n",
name, name, VTKINEMATICS_VERSION1, & k, able_id );
e u n -ENOENT;
}
132
hal_ eady(comp_id);
e u n 0;
e o :
hal_exi (comp_id);
e u n es;
}
oid api_app_exi ( oid)
{
hal_ emo e_ able( able_id);
hal_exi (comp_id);
}
#endi
133
APPENDIX V, PCB SCHEMATICS
134
135

136
137
138
139
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
2:1
4,40
34,80 6
51,10
30
3
14/07/2016
Sc ew_adj:
Manu ac u e wi h 3mm MDF, use a lase cu e
wi h ole ances lowe han 0,1mm. Ve i y hickness o a
push i .
C3

Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
2:1
4,40
24
3
14/07/2016
sc ew_limi :
Manu ac u e wi h 3mm MDF, use a lase cu e
wi h ole ances lowe han 0,1mm.
C4
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ionDesc ip ion
App o al
Guillem Cabo Pi a ch
Ma hew Venn
Ene gy MegaD awz
Signa u e
Signa u e
Da e
Plan numbe
Scale
Au ho
P ojec
3
133,20
51,10
29,20
2,20
10,40
1:1
14/07/2016
Laye 0:
Manu ac u e wi h 3mm MDF, use a lase cu e
wi h ole ances lowe han 0,1mm. Ve i y dimensions and
hickness o a push i .
C5
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
40
4
2,22 3,78
5,97 3,02
6 3
20
2:1
04/07/2016
CS0.1
20x40_ancho poin :
Manu ac u ewi h3mmMDF,usealase cu e
wi h ole anceslowe  han0,1mm.
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
80
4
3
7
3,50
3
10
2:1
04/07/2016
CS0.2
Lea e _10x75_m4:
Manu ac u ewi h3mmMDF,usealase cu e 
wi h ole anceslowe  han0,1mm.
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
1
2
E_gondolacha ge _ 1:
Co e con ac a ea wi h cha ging
pads o 2wi h aluminum ape.
NUMBER
ID QUANTITY
1
20x40_ancho poin
2
2
lea e _10x75_m4
2
1:1
04/07/2016
CS0.a

Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
5
35
3
10
59,09°
50
25 8,54
2,50
5
160
06/07/2016
180x60_5mm_aluminum_a m_ ig h:
Use an aluminium pla e
o 5mm, ace he op su ace and machine wi h a CNC
d illing machine. Cham e s can be added o he ex e nal
edge. File he edges.Use 1mm abs.
1:1
CS1.1
Ma Venn
Enginee ing
110x30_3mm_aluminum_doo :
Lase cu om 3mm MDF o Use an
aluminium pla e o 3mm, ace he op su ace and machine wi h
a CNC d illing machine. Fo aluminium piece cham e s can be
added o he ex e nal edge, ile he edges and use 1mm abs.
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
1:1
3
R10
9,60
R6,75
R2,93
6,45
R1,97
4
45,22
1,59°
106,75
3
06/07/2016
CS1.2
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
1:1
50
5
45°
25
7,50
7,50
10
60°
3
R10
R35
R35
14,44
158
2,50
5
06/07/2016
180x60_5mm_aluminum_a m_le :
Use an aluminium pla e o
5mm, ace he op su ace and machine wi h a CNC d illing
machine. Cham e s can be added o he ex e nal edge.
File he edges. Use 1mm abs.
CS1.3
Ma Venn
Enginee ing
P ojec
Au ho Scale
Plan numbe
Da e
Signa u e
Signa u e
Ene gy MegaD awz
Ma hew Venn
Guillem Cabo Pi a ch
App o al
Desc ip ion
1:1
Desc ip ion
App o al
Guillem Cabo Pi a ch
Ma hew Venn
Ene gy MegaD awz
Signa u e
Signa u e
Da e
Plan numbe
Scale
Au ho
P ojec
60
1300
17,50
5
15
135
06/07/2016
1300x60_ac ilic:
Use a able saw o cu a piece o 10 mm ac ilic and d ill
holes wi h a d illing owe . Do no emo e he p o ec o il o
he ac ilic.
CS1.4