ARIA is a dual-module robotic control system designed for high-performance basketball-playing robots. It features a top-bottom motherboard architecture with auxiliary daughterboards, a Raspberry Pi master controller, and an independent safety monitoring PCB. Built for ruggedness and modularity, this system ensures precise actuation and real-time diagnostics.
- Top Motherboard
- Manages upper peripherals (e.g., arm actuators, vision sensors).
- Runs micro-ROS for real-time communication.
- Bottom Motherboard
- Controls lower peripherals (e.g., wheel motors, balance systems).
- Connects to Raspberry Pi via USB for centralized command.
Top view
Bottom view
PCB
View 1 - Top(left) Bottom(right)
- Top & Bottom Daughterboards
- Mounted on modular panels for easy access and maintenance.
- Handle secondary sensors/actuators (e.g., encoders, grippers).
Top daughter auxiliary pcbs
Bottom daughter auxiliary pcb
- Raspberry Pi acts as the master controller, housed in a dedicated enclosure.
- Orchestrates communication between top/bottom modules.
|
A standalone board for system health monitoring:
- Real-time metrics: Voltage, temperature, and actuator load.
- Fail-safe protocols: Automatic shutdown on critical thresholds.
- Expandable: Supports custom sensors for advanced safety checks.
Upgrade PCB Front
Back
- Modular Design
- Plug-and-play daughterboards for rapid repairs/upgrades.
- Separate enclosures for top/bottom components.
- Rugged Construction
- IP-rated enclosures with vibration-resistant mounts.
- ROS Integration
- Seamless compatibility with robotic middleware.
- Accessibility
- Daughterboards mounted on external panels for tool-free access.
- Scalability
- Extra GPIO/I2C ports for future expansions.
- Fault Tolerance
- Redundant power lanes and isolated sensor circuits.
- Always check the Upgrade PCB’s heartbeat LED before operation.
- Avoid exposing enclosures to temperatures >60°C.
*Designed by
Ashmit R Sambrani : https://github.com/Ash29062 Rishadd