Mechanical Design
- First prototype - Finished
- Hardware integration
Stepper Motor/Driver:
Mechanical
- Gear Reducer
- Harmonic vs Cycloidal - In design
Hardware
- Stepper Motor Selection - NEMA 17
- Microcontroller/DSP
- Current Sensing Mechanism for FOC - in Progress
- ADC
- Hall Sensor for Feedback and Closed-Loop
- Power Stage - in Progress
- MOSFET/IGBTs
- H-Bridge
- Thermal Management
- Gate Driver
- DC to DC converter
- Protection Circuits
Software
- FOC - in Progress
- PID Control - in Progress
- Communication - CAN Bus - in Progress
Controller
Hardware
- Microcontroller - STM32F4 → Datasheet_stm32f407x.pdf
- With ESP32 - thinking aout integration - in Progress
- NRF24L01 for 2.4 GHz Wireless Comm - in Progress - need researching
- Power
- DC-DC
- Comm
- CAN
- BLE
Software
- Architecture Design - in Progress
- Sensor Data Processing - TODO
- PID Algorithm for robotic positioning in Progress
- communication protocol implementaiton - in Progress
- UI - TODO
- CLI… - need researching