Silo4-Features

The SILO4 Walking Robot: Features

The SILO4 is a compact, modular and robust robot of about 30 kg, which is capable of negotiating irregular terrain, surmounting obstacles up to 250 millimetres tall and carrying about 15 kilograms in payload at a maximum velocity of about 1.5 meter per minute.

The SILO4 walking robot features:

Four legs.
Small size and low weight for easy handling.
Mechanical robustness.
Slenderness so as to avoiding motor positions that give big leg volumes.
Compactness, with all motors and electrical cables conveniently housed.
Agile in changing trajectories for good omnidirectionality.
Control provided by a true real time multitasking operating system supporting network communications.

SILO_general.jpg (51213 bytes)

The body of the SILO4 is a parallelepiped of about 310x300x300 millimeters. It contains all the drivers and electronic cards, as well as the force sensor amplifiers and a two-axis inclinometer that provides pitch and roll body angles. The structure of the body is made of aluminum and the body's weight, including electronics, is about 18 kilograms.

The legs of the SILO4 are based on an insect type configuration. The first link is about 60 millimeters long and the second and third joins are about 240 millimeters. Each joint is actuated by DC-servomotors. The output shaft of a planetary gear directly drives the first joint. The second and third joints have an additional reducer based on a skew-axis spiroid mechanism.
The leg parts are manufactured in aluminum and aluminum 7075T6. The resulting leg weighs about 4 kg including the foot.

The normal SILO4 foot consists of a passive universal joint that connects the third link with a circular sole through one more passive joint. These three passive joints make possible an adequate contact between the circular planar sole and the ground surface. The angle between the sole and the third link can be measured by two potentiometers. Two simpler foot types can be also provided. See the user's manual for further information. The next tables summarize the joint and robot features, respectively.

Table 1. Joint features.
Joint	1	2	3
Motor type	MINIMOTOR 3557K024C	MINIMOTOR 3557K024CR	MINIMOTOR 3557K024CS
Motor power (W)	14	72	26
Motor no-load speed (rpm)	4800	5300	5500
Motor stall torque (mNm)	105	510	177
Gearhead reduction	246:1	14:1	14:1
Spiroid reduction	-------	20.5:1	20.5:1
Encoder	HEDS5540A14	HEDS5540A14	HEDS5540A14
Joint angle (degrees)	-80 to +80	-90 to 45	-135 to 10

Table 2. The SILO4 main features

Legs

Number of legs:

Leg type:

Leg arrangements:

Leg dimension:

Foot speed:

Material:

Insect (three rotary joints)

Circular configuration

240 mm each link

200 mm/sec.

Aluminum 7075T6

Foot

Foot base:

Foot joints:

Material:

Circular

1 or 3 passive joints

Aluminum 7075T6 and steel

Body

Dimensions:

Material:

Total Weight:

Payload:

Color:

310x310x300 mm

Aluminum

ť 30 kg

ť 15 kg

Red and aluminum color

Home