# Leg Test Stand v1
<img src="images/leg_test_stand_1.png" width="600"> <br>  

## Updated Version
`There is a newer version of the Leg Test Stand available.`<br>
The new version uses the custom Master Board and Micro Driver Board instead of the Texas Instruments evaluation electronics.

* [Leg Test Stand v2 Documentation](../leg_test_stand_v2/README.md#leg-test-stand-v2)

## Description
This teststand allows us to evaluate the performance of a single 2dof leg with external sensors.
The teststand has a linear guided vertical degree of freedom and a carriage that holds the leg and the motor driver electronics. The ground reaction forces are measured with a 6 axis force-torque-sensor and are transmitted to the control pc at 1kHz. The vertical position of the carriage is measured with an analog string potentiometer. The acceleration can be measured with an inertia measurement unit which is mounted to the carriage. The test stand can be equipped with a pull-up-motor module for automated resetting to the initial position for machine learning experiments.

* The details of the 2dof leg are described here: [Leg 2dof](../leg_2dof_v1/README.md#leg-2dof-v1)
* The details of the lower leg and the foot contact switch are described here: [Lower Leg and Foot Contact Switch](../foot_contact_switch_v1/README.md#foot-contact-switch-v1)
* The details of the TI evaluation board electronics are described here: [TI Electronics](../../electronics/ti_electronics/README.md#texas-instruments-evaluation-board-electronics)

## Details Leg Test Stand
<img src="images/components_teststand_1.jpg" width="450"> <br>*Carriage with 2dof leg and motor driver electronics / Slider Box*<br>

* weight carriage with electronics and 2dof leg: 650g
* vertical range: 85cm  
* pull-force height sensor about 2N

## Electronics
<img src="images/ti_eval_board_1.jpg" width="350"> <br>*Texas Instruments Dual Motor Driver stack*<br>

* [Texas Instruments evaluation motor driver electronics](../../electronics/ti_electronics/README.md#texas-instruments-evaluation-board-electronics)<br>
* The leg test stand requires a 24V power supply and a CAN communication channel

### Height Sensor
<img src="images/string_potentiometer_1.jpg" width="300"><br>*Waycon string potentiometer*<br>

* Waycon LX-PA-40 string potentiometer
* measurement range 1000mm
* [Waycon Webpage](https://www.waycon.biz)
* [Waycon String Potentiometer Datasheet](https://www.waycon.biz/fileadmin/draw-wire-sensors/Draw-Wire-Sensor-LX.pdf)
* ordering information [below](#bill-of-materials---leg-test-stand-2dof)

### Force Torque Sensor
<img src="images/ati_mini_40_ft_sensor.jpg" width="300"> <br>*ATI Mini-40-E force-torque-sensor*<br>
* 6 axis force-torque sensor
* ATI Mini-40-E with SI-40-2 Calibration
* NetBA Interface Box required
* Ethernet communication with control pc
* [ATI Mini-40 Product Page](https://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40)
* [ATI Mini-40-E Technical Drawing](https://www.ati-ia.com/app_content/Documents/9230-05-1314.auto.pdf)
* [NetBA Interface Box Technical Drawing](https://www.ati-ia.com/app_content/documents/9230-05-1327.auto.pdf)
* ordering information [below](#bill-of-materials---leg-test-stand-2dof)

### Inertia Measurement Unit
<img src="images/imu_3dm_gx5_25_1.jpg" width="300"> <br>  *Lord Microstrain IMU 3DM-GX5-25 AHRS*<br>

* [Lord Microstrain 3DM-GX5-25 AHRS Product Page](https://www.microstrain.com/inertial-sensors/3dm-gx5-25)
* [3DM-GX5-25 AHRS Datasheet](https://www.microstrain.com/sites/default/files/3dm-gx5-25_datasheet_8400-0093_rev_o.pdf)
* USB communication with control pc
* ordering information [below](#bill-of-materials---leg-test-stand-2dof)

## Off-the-shelf Components
### Linear Guide
<img src="images/linear_guide_1.jpg" width="300"> <br>*Linear ball bearing and linear motion rod*<br>

* Linear ball bearings: KB-1
* Rod diameter 14mm
* Linear motion rods: Precision Stainless Steel Rods X46 14h6 x 1000mm
* ordering information [below](#bill-of-materials---leg-test-stand-2dof)

### Aluminum profiles
<img src="images/aluminum_profile_1.jpg" width="300"> <br> *Item aluminum profile*<br>
* Item aluminum profiles - Size 8 - 40mm x 40mm
* required profile length: 2,7m
* segment lengths: 120cm / 70cm / 50cm / 30cm
* ordering information [below](#bill-of-materials---leg-test-stand-2dof)

### Angle brackets
<img src="images/item_angle_connector_40mm.jpg" width="300"> <br> *Item 90 degree angle bracket 40mm*<br>
* 90 degree 40mm angle brackets
* ordering information [below](#bill-of-materials---leg-test-stand-2dof)

### End caps
<img src="images/item_end_caps.jpg" width="300"> <br> *Item end caps*<br>
* end caps - size 8
* ordering information [below](#bill-of-materials---leg-test-stand-2dof)

### T-slot nuts
<img src="images/t_slot_nuts_1.jpg" width="300"> <br> *Item M5 t-slot nuts*<br>
* T-slot nuts M5
* ordering information [below](#bill-of-materials---leg-test-stand-2dof)

---
## 3D Printed Parts

<img src="images/printing_direction.png" width="400"> <br>

`The recommended printing direction for all the parts below is the positive z direction of the stl files.`

All the STL files for 3d printing the Leg Test Stand can be found here: [STL Files Leg Test Stand](stl_files).

---
<img src="details/carriage.png" width="300"> <br>
* [Carriage - STL file](stl_files/carriage.STL)
* print on FDM or SLS printer
---
<img src="details/linear_bearing_cover.png" width="200"> <br>
* [Linear Bearing Cover - STL file](stl_files/linear_bearing_cover.STL)
* print on FDM or SLS printer
---

<img src="details/adjustment_sleeve.png" width="200"> <br>
* [Adjustment Sleeve - STL file](stl_files/adjustment_sleeve.STL)
* print on SLA, Multijet or Polyjet printer
---
<img src="details/linear_motion_rod_attachment.png" width="300"> <br>
* [Linear Motion Rod Attachment - STL file](stl_files/linear_motion_rod_attachment.STL)
* print on FDM or SLS printer
---
<img src="details/string_potentiometer_pullup_motor_mount.png" width="280"> <br>
* [String Potentiometer and Pullup Motor Mount - STL file](stl_files/string_potentiometer_pullup_motor_mount.STL)
* print on FDM or SLS printer
---
<img src="details/pulley_pullup_module.png" width="200"> <br>
* [Pulley Pullup Module - STL file](stl_files/pulley_pull_up_module.STL)
* for pullup motor / optional
* print on FDM or SLS printer
---
<img src="details/ati_sensor_top_plate.png" width="250"> <br>
* [ATI Sensor Top Plate - STL file](stl_files/ati_sensor_top_plate.STL)
* print on FDM or SLS printer
---
<img src="details/ati_sensor_bottom_plate.png" width="300"> <br>
* [ATI Sensor Bottom Plate - STL file](stl_files/ati_sensor_bottom_plate.STL)
* print on FDM or SLS printer
---
<img src="details/motor_driver_electronics_attachment.png" width="300"> <br>
* [Motor Driver Electronics Attachment - STL file](stl_files/motor_driver_electronics_attachment.STL)
* for pullup motor electronics / optional
* print on FDM or SLS printer
---
<img src="details/stopper_attachment.png" width="200"> <br>
* [Stopper Attachment - STL file](stl_files/stopper_attachment.STL)<br>
* print on FDM or SLS printer
---
<img src="details/stopper_wing.png" width="200"> <br>
* [Stopper Wing - STL file](stl_files/stopper_wing.STL)<br>
* print on FDM or SLS printer
---

## Bill of Materials - Leg Test Stand 2dof
<img src="details/leg_test_stand_cad_overview_1.png" width="500"> <br>

| Description | Quantity | Ordering Information | Comments |  
| --- | --- | --- | --- |   
|2DOF Leg |1|Custom assembly|[2DOF Leg Documentation](../leg_2dof_v1/README.md#leg-2dof-v1)|
|TI Launchpad Microcontroller F28069M|1|[Mouser 595-LAUNCHXL-F28069M](https://www.mouser.com/ProductDetail/Texas-Instruments/LAUNCHXL-F28069M?qs=%2Fha2pyFaduifljxJVwC%252BkqKGHyURiOighk9%2FA6aeylVSHXBcrDR2gjNvgAhNORZA)<br>[DigiKey 296-38832-ND](https://www.digikey.com/en/products/detail/texas-instruments/LAUNCHXL-F28069M/5138373?s=N4IgTCBcDa4JwDYC0BmAHGlYkDkAiIAugL5A)|[Launchpad F28069M Product Page](https://www.ti.com/tool/LAUNCHXL-F28069M) |
|TI Booster Packs DRV8305|2|[Mouser 595-STXL-DRV8305EVM](https://www.mouser.com/ProductDetail/Texas-Instruments/BOOSTXL-DRV8305EVM?qs=%2Fha2pyFaduiQ7YJ7ZoDBYZeijXynk0L8KTs1pL%2FXoHQhW9QtEWETsRRA17xKFnQe)<br>[DigiKey 296-43181-ND](https://www.digikey.com/en/products/detail/texas-instruments/BOOSTXL-DRV8305EVM/5761583?s=N4IgTCBcDa4JwDYC0AWAzARgBwaQOQBEQBdAXyA)|[DRV8305 Product Page](https://www.ti.com/tool/BOOSTXL-DRV8305EVM)|
|String Potentiometer|1|Waycon LX-PA-40<br>[Waycon Distributors](https://www.waycon.biz/distributors/europe/)|1000mm measurement range<br>[Waycon String Potentiometer Datasheet](https://www.waycon.biz/fileadmin/draw-wire-sensors/Draw-Wire-Sensor-LX.pdf)|
|6 Axis Force-Torque-Sensor|1|ATI Mini-40-E<br>SI-40-2 calibration<br>[ATI Sales](https://www.ati-ia.com/company/contacts.aspx)|[ATI Mini-40 Product Page](https://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini40)<br>We ordered the sensor and interface box from [Schunk](https://schunk.com/de_en/gripping-systems/product/30836-ftn-mini-40-si-40-2/) in Germany.|
|Inertia Measurement Unit|1|Lord Microstrain 3DM-GX5-25 AHRS<br>[Lord Microstrain Distributors](https://www.microstrain.com/support/distributors)| [3DM-GX5-25 AHRS Datasheet](https://www.microstrain.com/sites/default/files/3dm-gx5-25_datasheet_8400-0093_rev_o.pdf)<br>We ordered the IMU from [ZSE Electronic GmbH](https://www.zse.de/en/) in Germany.|
|Linear Ball Bearings|4|KB-1 14mm<br>[Mädler 64699814](https://www.maedler.de/product/1643/1630/2358/linearkugellager-kb-1-iso-serie-1-rostfrei-mit-deckscheiben?result=64699814)||
|Linear Motion Rods|2|Precision Stainless Steel Rods X46 14h6 x 1000mm<br>[Mädler 64799214](https://www.maedler.de/product/1643/1630/559/praezisions-wellenstahl-edelstahl-x46-rostfrei-gehaertet-und-geschliffen?result=64799214)||
|Aluminum Profiles|4|Item Size 8 - 40mm x 40mm <br>[Item 7.0.000.09](https://product.item24.de/en/products/product-catalogue/productdetails/products/line-8-construction-profiles-1001042794/profile-8-40x40-e-natural-7000009/)|Segment lengths: 120cm / 70cm / 30cm / 50cm|
|Angle Brackets|4|[Item 0.0.411.15](https://product.item24.de/en/products/product-catalogue/productdetails/products/angle-brackets-zn-1001046547/angle-bracket-set-8-40x40-41115/)|Bolts and nuts included.|
|End Caps|5|[Item 0.0.026.01](https://product.item24.de/en/products/product-catalogue/productdetails/products/caps-for-profiles-in-modular-dimensions-1001042804/cap-8-40x40-black-2601/)||
|T-Slot Nuts M5|7|[Item 0.0.480.54](https://product.item24.de/en/products/product-catalogue/productdetails/products/t-slot-nuts-st-1001042830/t-slot-nut-v-8-st-m5-bright-zinc-plated-48054/)||
|Carriage|1|[STL file](stl_files/carriage.STL)|3d printed part<br>Print on FDM or SLS printer.|
|Linear Bearing Cover|4|[STL file](stl_files/linear_bearing_cover.STL)|3d printed part<br>Print on FDM or SLS printer.|
|Adjustment Sleeve|4|[STL file](stl_files/adjustment_sleeve.STL)|3d printed part<br>Print on SLA, Polyjet or Multijet printer.|
|Linear Motion Rod Attachment|2|[STL file](stl_files/linear_motion_rod_attachment.STL)|3d printed part<br>Print on FDM or SLS printer.|
|String Potentiometer and Pullup Motor Mount|1|[STL file](stl_files/string_potentiometer_pullup_motor_mount.STL)|3d printed part<br>Print on FDM or SLS printer.|
|Pulley Pullup Module|1|[STL file](stl_files/pulley_pull_up_module.STL)|3d printed part / optional<br>Print on FDM or SLS printer.|
|ATI Sensor Top Plate|1|[STL file](stl_files/ati_sensor_top_plate.STL)|3d printed part<br>Print on FDM or SLS printer.|
|ATI Sensor Bottom Plate|1|[STL file](stl_files/ati_sensor_bottom_plate.STL)|3d printed part<br>Print on FDM or SLS printer.|
|Motor Driver Electronics Attachment|1|[STL file](stl_files/motor_driver_electronics_attachment.STL)|3d printed part / optional<br>Print on FDM or SLS printer.|
|Stopper Attachment|2|[STL file](stl_files/stopper_attachment.STL)|3d printed part<br>Print on FDM or SLS printer.|
|Stopper Wing|1|[STL file](stl_files/stopper_wing.STL)|3d printed part<br>Print on FDM or SLS printer.|

## View the teststand cad model in your web browser

<a href="https://open-dynamic-robot-initiative.github.io/cad_files/leg_test_stand_v1"><img src="images/leg_test_stand_cad_1.png" width="400"></a><br> *Leg Test Stand v1 - Click on the picture to view the cad model in your browser* <br>

* You can download the Solidworks CAD files [here](solidworks_files/leg_test_stand_v1.zip).

## More Information
[Open Dynamic Robot Initiative - Webpage](https://open-dynamic-robot-initiative.github.io)  
[Open Dynamic Robot Initiative - YouTube Channel](https://www.youtube.com/channel/UCx32JW2oIrax47Gjq8zNI-w)   
[Open Dynamic Robot Initiative - Forum](https://odri.discourse.group/categories)  
[Open Dynamic Robot Initiative - Paper](https://arxiv.org/pdf/1910.00093.pdf)  
[Hardware Overview](../../README.md#open-robot-actuator-hardware)  
[Software Overview](https://github.com/open-dynamic-robot-initiative/open-dynamic-robot-initiative.github.io/wiki)

## Authors
Felix Grimminger

## License
BSD 3-Clause License

## Copyright
Copyright (c) 2019-2021, Max Planck Gesellschaft and New York University