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Overview
NeuroArm is a 3 Degree of Freedom (DOF) robot. The platform has undergone several revisions in robotic design throughout its history:
- NeuroArm 1: Fall Quarter, 2012 - Summer Quarter, 2013
- NeuroArm 2: Fall Quarter, 2013 - Spring Quarter, 2014 (Two identical twin robots; 2w and 2s)
- NeuroArm 3: Summer Quarter, 2014 - Present
Components
- Motors:
- NeuroArm 1 and 2: EC 60 flat Ø60 mm, brushless, 100 Watt, without cover (Part #: 411678)
- NeuroArm 3: RE 50 Ø50 mm, Graphite Brushes, 200 Watt (Part #: 370356)
- Encoders:
- NeuroArm 1 and 2w: Encoder MILE, 1024 CPT, 2 Channels, with Line Driver (Part #: 421986)
- NeuroArm 2s: Encoder MILE, 4096 CPT, 2 Channels, with Line Driver (Part #: 421988)
- NeuroArm 3: E6 Optical Kit Encoder
- Motor Controllers:
- NeuroArm 1 and 2: Synapticon's SOMANET which consists of the following three modules that connect to each other:
- NeuroArm 3: Synapticon's SOMANET which consists of the following three modules that connect to each other:
- Power Supplies
- NeuroArm 1, 2, and 3: 24V 6.5A Power Supply
Configuration
Configuration details for connecting and programming NeuroArm for the above pieces of hardware continue on the next several pages of the wiki.
From a high-level perspective, configuration involves the following steps:
- Establish electrical connections between the motors, Synapticon's SOMANET motor controller nodes, power supply, and master computer:
- Run the IgH EtherCAT Master application to communicate among the master computer and nodes:
- Download the XDE environment for writing applications and use it to compile programs that run on the master computer and nodes:
- Flash the nodes (upload the code onto the actual SOMANET Cores), turn on the EtherCAT Master program, and run the master application to operate the robot:
Usage
Once the robot and master computer have been configured, it is very easy to write applications for NeuroArm.
- TODO add links
Updated