DASL: Weekly Update 2007-09-13

Total Number of Units

 

Total Number of Units

Extra Per Part

Total Cost (Approx)

 

 

 

 

 

 

 

 

15

2

329.5591667

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Item Description

Manufacturer

Supplier

Product Link

MFG: Part Number

Supplier: Part Number

Package

Quantity or per ft/Board

Price (2007)

Quantity Total

Total Cost (Per Part)

Power Supply 20V @ 3A,2.1mm Coax Center Positive

Phihong

All Electronics Corp

PSA60W-200

PSA60W-200

CAT# PS-231

NA

1

 $         14.00

17

 $                  238.00

2.1mm Coax Connector

Various Brands

Jameco

DC-470-2P

DC-470-2P

137672

NA

1

 $          0.36

17

 $                      6.12

Darlington PNP 3A

Major Brands

Jameco

TIP125

TIP125

33013PS

TO-220

2

 $          0.49

34

 $                    16.66

Darlington NPN 3A

Major Brands

Jameco

TIP122

TIP122

120416PS

TO-220

2

 $          0.42

34

 $                    14.28

Optical Encoder 1/8" Shaft

US Digital

US Digital

E4P-300-125-HT

E4P-300-125-HT

E4P-300-125-HT

NA

1

 $         19.95

17

 $                  339.15

Optical Encoder 1/4" Shaft

US Digital

US Digital

E4P-300-250-HT

E4P-300-250-HT

E4P-300-250-HT

NA

1

 $         19.95

17

 $                  339.15

Opamp

National Semiconductor

Jameco

LM741CN-R

LM741CN-R

24540

8DIP

2

 $          0.29

34

 $                      9.86

330uF@25V Cap

Various Brands

Jameco

R330/25

R330/25

93796PS

Radial

4

 $          0.12

68

 $                      8.16

0.47uF@100V Cap

Jameco Valuepro

Jameco

R0.47B100

R0.47B100

158481PS

Radial

3

 $          0.06

51

 $                      3.06

D-Sub Female

Jameco Valuepro

Jameco

1003-9S

1003-9S

15780

PCB Mount

2

 $          0.65

34

 $                    22.10

1/2"x1/2" Nylon Square Rod

Major Brands

McMaster

8732K15

8732K15

8732K15

NA

0.135833333

 $          4.10

2.309166667

 $                      9.47

2"x6"x1/2" Nylon Board

Major Brands

McMaster

8674K35

8674K35

8674K35

NA

0.25

 $         15.77

4.25

 $                    67.02

Parts List as of 2007-09-10

 

Above is the incomplete but updated parts list for the inverted pendulum cart and motor driver.

 

I have come up with a simple method of creating the body of the cart and attaching the motor.  Please see the pictures below.

 

Measurements of the DC motor being used (EPU-10)

 

 

Measurements and method for routing out the main body of the cart

 

The method used for attaching the pendulum arm is going to be using a bent 1/8” rod through a hole drilled in the 1/2” thick nylon.  Please note that the hole to be drilled is to use a size 31 bit to allow for free rotation.

 

1/8” brass rod bent at 90 deg fit through a size 31 hole drilled in nylon

 

Please see the diagram below, created by James Hing, of the setup of the second generation of the inverted pendulum setup.

 

Diagram of the inverted pendulum setup

 

Please note that the diagram use a hollow shaft for the wires to go through, so they are not seen, and a hinge for another degree of freedom for the cart.  The DB-9 connectors at the bottom are for easy dismantling of the system and for untangling of the wires.  Please note that the DB-9 connectors might be replaced by another type of connector.

 

Please see below for the PCB layout of the motor driver with the built in power converter.  Please note that I have already emailed the proper files to Keith so he can order two boards for me.

 

PCB layout of the motor controller with built in power converter as of 2007-09-09

 

Please click here for the files to create the board in the figure above.