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Robotics Testing

Showcasing my work on internal development projects at HEBI Robotics

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160W Programmable Load​

  • Four parallel BJT active sources

  • Active cooling with heat sink and 12V fan

  • Programmable current source through dip switch connected to binary weighted resistor divider or direct reference voltage input
  • Includes thermal shut-down with 10 degrees hysteresis
  • Includes on-bard voltage and current measurement
  • 48V power input, on-board buck regulators for 12V and 5V power rails

Dual DC Power Regulator Test Set-Up

  • My test board design connects to the I/Os of the power regulator board under test, as well as the programmable active load

  • I programmed the test board over ethernet with Python APIs to test the power regulators at 5, 9, 12 and 24V with a 4A load.

  • The test board includes optical relays and decoders for I/O control of the device under test, as well as on-board voltage and current monitors

  • The Python script monitors voltage and current levels as the load demand of the power regulator increases

Motor and LED Driver 

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  • First, I prototyped just the motor driver since the LED driving circuit had already been validated

  • ​Motor Driver Specifications:​

    • Drive 4 brushed DC motors (for air pumps) at up to 5A with bidirectional phase current sensing and limiting

  • Testing Results:

    • Current sensing was not high enough resolution​

    • Motor speed did not have enough range

  • Conclusions for next iteration:

    • Select current sensor with smaller range, higher resolution​

    • Select motor driver with higher frequency control

Version 2:

  • Version 2 includes 2 LED boost buck driver circuits, 2 motor drivers, one switched 5V/5A output, onboard connectors for ethernet switch and MCU module, and four SPI channels

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