2 layers102.4 × 98.6 mm
2 layers86.4 × 97.2 mm
Arm Control Board
ISU-MAVRIC/MAVRIC_Arm1MAVRIC arm control board and firmware
- Size
- 86.4 × 97.2 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 118
- Nets
- 103
- Pads
- 376
- Tracks, vias
- 1,066, 154
- Pours
- 27
- Routed
- Yes
- KiCad
- KiCad 4
- Created
- 25 Jan 2015
- Updated
- 24 Apr 2015
Overview
Arm Control Board is an open-source printed circuit board by ISU-MAVRIC, from the ISU-MAVRIC/MAVRIC_Arm repository on GitHub. It is a 2-layer board of 86.4 × 97.2 mm with 118 parts on 103 nets, routed with 1,066 tracks and 154 vias.
It is built around the STM32F401RCT6, 74LVCH244APW and RS485, with the ZXCT1107SA, AOZ1280CI and SN75176BDRG among its other parts. Its parts include 51 capacitors, 25 resistors, 15 connectors, 13 ICs and 6 inductors. It belongs with the STM32 boards of this library.
Main components
6
STM32F401RCT6
LQFP-64(10x10)-40℃~+85℃ 1.7V~3.6V 12bit 256KB 32 Bit 50 64KB 84MHz ARM Cortex-M4 Built-in FLASH LQFP-64(10x10) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
74LVCH244APW
TSSOP-20-40℃~+125℃ 1.2V~3.6V 2 2.9ns@3.3V,50pF 24mA 24mA 4 40uA 74LVCH Schmitt trigger Tri-State Unidirectional TSSOP-20 Buffers, Drivers, Receivers, Transceivers ROHSNexperiaBuffer/Driver/Transceiver
RS485
SOP-81 1 1.2mA 2.5Mbps 256 5V Half-Duplex Transceiver ±4kV SOP-8 RS-485 / RS-422 ICs ROHSGRRS-485 / RS-422 ICs
ZXCT1107SA
SOT-23-40℃~+125℃ 0V~0.5V 19nA 2.5V~36V 2.5V~36V 3uA 650kHz High-side detection、Analog output interface SOT-23 Current Sense Amplifiers ROHSDiodes IncorporatedCurrent Sense Amplifiers
AOZ1280CI
SOT-23-6-40℃~+85℃ 1 1.2A 1.5MHz 1mA 3V~26V 800mV~26V Adjustable Buck Built-in No Overcurrent Protection、Cycle-by-cycle current limiting、Hiccup current limiting Step-down type SOT-23-6 DC-DC Converters ROHSAlpha & Omega SemiconductorDC-DC ConvertersSN75176BDRG
SOP-8SOP-8 RS-485 / RS-422 ICs ROHSHANSCHIP semiconductorRS-485 / RS-422 ICs
README
README.mdMAVRIC_Arm
The MAVRIC Arm consists of a rotating base (stepper motor), 'shoulder' actuator (with feedback), 'elbow' actuator (with feedback), and an end effector. The end effector is modular but at its maximum contains a rotation servo, horizontal servo, vertical servo, and gripping servo. This board interfaces with the MAVRIC main board, receiving control packets and sending back status packets.
Features
- 4 7.4V 5A Buck Regulators powering the high power end effector servos
- Current measurement on every power output to prevent overheating of both the regulators and the servos themselves
- 3V3 and 5V Buck Regulators powering the STM32 and an external Raspberry Pi
- Powered by single 12V battery rail
- STM32 communicating over RS-485 with the MAVRIC main board for control/status transmission
- STM32 generating PWM to control the actuator drivers, servos, and stepper driver
Arm Board Prototype 1 Ordered:
Parts
118| Qty | Value | Footprint | References |
|---|---|---|---|
| 12 | .1uF | Capacitors_SMD:C_1206_HandSoldering | C3, C4, C6, C8, C9, C10, C11, C31, C32, C47, C48, C51 |
| 10 | 10uF | Capacitors_SMD:C_1206_HandSoldering | C13, C14, C27, C29, C33, C34, C43, C45, C49, C50 |
| 8 | 22uF | Capacitors_SMD:C_1206_HandSoldering | C25, C26, C28, C30, C41, C42, C44, C46 |
| 5 | 1uF | Capacitors_SMD:C_1206_HandSoldering | C12, C21, C22, C37, C38 |
| 4 | 100k | Resistors_SMD:R_1206_HandSoldering | R9, R10, R15, R16 |
| 4 | 18pF | Capacitors_SMD:C_1206_HandSoldering | C19, C20, C35, C36 |
| 4 | 191k | Resistors_SMD:R_1206_HandSoldering | R5, R6, R11, R12 |
| 4 | 20m | Resistors_SMD:R_1206_HandSoldering | R17, R18, R21, R22 |
| 4 | 22.1k | Resistors_SMD:R_1206_HandSoldering | R7, R8, R13, R14 |
| 4 | 3.3uH | Inductors_NEOSID:Neosid_Inductor_SM-PIC0612H | L3, L4, L5, L6 |
| 4 | 4.7uF | Capacitors_SMD:C_1206_HandSoldering | C1, C7, C17, C18 |
| 4 | 8.06k | Resistors_SMD:R_1206_HandSoldering | R19, R20, R23, R24 |
| 4 | 8.2nF | Capacitors_SMD:C_1206_HandSoldering | C23, C24, C39, C40 |
| 4 | AP65552SP-13 | SMD_Packages:SOIC-8-N-1EP | U6, U7, U8, U9 |
| 4 | VAL** | MAVRIC_footprints:PlatedMountingHole_3-5mm | MountingHole_3-5mm, MountingHole_3-5mm, MountingHole_3-5mm, MountingHole_3-5mm |
| 4 | ZXCT1107 | Housings_SOT-23_SOT-143_TSOT-6:SOT23_Transistor_Handsoldering_RevB_14Mar2014 | U10, U11, U12, U13 |
| 2 | 10nF | Capacitors_SMD:C_1206_HandSoldering | C15, C16 |
| 2 | 15pF | Capacitors_SMD:C_1206_HandSoldering | C2, C5 |
| 2 | 2.2uH | MAVRIC_footprints:Yuden_SMD_Power_Inductor_6060 | L1, L2 |
| 2 | 49.9k | Resistors_SMD:R_1206_HandSoldering | R1, R3 |
| 2 | AOZ1280CI | SMD_Packages:SOT-23-6 | U4, U5 |
| 2 | DIODESCH | MAVRIC_footprints:Diode_MicroSMP | D1, D2 |
| 1 | 100 | Resistors_SMD:R_1206_HandSoldering | R25 |
| 1 | 15.8k | Resistors_SMD:R_1206_HandSoldering | R4 |
| 1 | 24MHz | Crystals_Oscillators_SMD:Q_49U3HMS | X1 |
| 1 | 50O | Resistors_SMD:R_1206_HandSoldering | FB1 |
| 1 | 74LVCH244APW | MAVRIC_footprints:AB2_TSSOP20 | U3 |
| 1 | 9.53k | Resistors_SMD:R_1206_HandSoldering | R2 |
| 1 | Battery | MAVRIC_footprints:SolderWirePad_2x_2-5mmDrill | P11 |
| 1 | Elbow Fdbk | MAVRIC_footprints:1x3_SMD_header | P5 |
| 1 | Grip Fdbk | MAVRIC_footprints:1x3_SMD_header | P14 |
| 1 | Pi Power | MAVRIC_footprints:1x2_SMD_header | P13 |
| 1 | RS232 | MAVRIC_footprints:1x3_SMD_header | P15 |
| 1 | RS485 | MAVRIC_footprints:1x3_SMD_header | P7 |
| 1 | SN75176BDR | SMD_Packages:SOIC-8-W | U2 |
| 1 | STM32F401RCT6 | Housings_QFP:LQFP-64_10x10mm_Pitch0.5mm | U1 |
| 1 | SWD | MAVRIC_footprints:1x6_SMD_header | P8 |
| 1 | Servo 1 | MAVRIC_footprints:1x3_SMD_header | P1 |
| 1 | Servo 2 | MAVRIC_footprints:1x3_SMD_header | P3 |
| 1 | Servo 3 | MAVRIC_footprints:1x3_SMD_header | P4 |
| 1 | Servo 4 | MAVRIC_footprints:1x3_SMD_header | P6 |
| 1 | Servo 5 | MAVRIC_footprints:1x3_SMD_header | P9 |
| 1 | Shoulder Fdbk | MAVRIC_footprints:1x3_SMD_header | P2 |
| 1 | SyRen | MAVRIC_footprints:1x2_SMD_header | P12 |
| 1 | UIM240XX_Stepper_Conn | MAVRIC_footprints:1x6_SMD_header | P10 |
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Questions
How big is the Arm Control Board PCB?
It measures 86.4 × 97.2 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Arm Control Board use?
118 parts, built around the STM32F401RCT6, 74LVCH244APW, RS485 and ZXCT1107SA. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Arm Control Board KiCad files?
From the ISU-MAVRIC/MAVRIC_Arm repository on GitHub, at the commit this page was made from: the board is Hardware/Arm Control Board/Arm Control Board.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Can I use the Arm Control Board design in my own project?
Its repository states no licence, so its author keeps all rights: ask ISU-MAVRIC before reusing the design.