66
77## Upgrade Kit
88
9- This upgrade kit is meant to update the head with new eyes composed by high-resolution cameras, bigger FOV lenses, new GPU, new accomodation for the COM-Express in the backpack, new design for the upper cover of the backpack.
9+ This upgrade kit is meant to update the head with new eyes composed by high-resolution cameras, bigger FOV lenses, new GPU, new accomodation for the COM-Express in the backpack, new design for the upper cover of the backpack.
1010
11- <center >  </center >
11+ <center >  </center >
1212
1313| | |
1414| :---: | :---: |
@@ -18,25 +18,29 @@ This upgrade kit is meant to update the head with new eyes composed by high-reso
1818
1919| # | Code | Alias | Rev | UM | Qty | Description |
2020| :---: | :---: | :---: | :---: | :---: | :---: | :---: |
21- | 1 | | MKIT_009 | | Pieces | 1 | |
21+ | 1 | 18476 | MKIT_009 | | Pieces | 1 | |
2222| 2 | 17018 | WKIT_009 | | Pieces | 1 | iCub2.x, Basler cameras, GPU, and COM Express Type 10 (wiring) |
2323| 3 | 16519 | EKIT_009 | | Pieces | 1 | iCub2.x, Basler cameras, GPU, and COM Express Type 10 (electronics) |
2424
2525## Content material MKIT_009
2626
27- <center >  </center >
27+ <center >  </center >
2828
2929| Alias | Description | Code | Rev | Qty |
3030| -------------------------------| -----------------------------------------------------------------------------| -------| -----| -----|
31- | RMB_UL_255X | RMB BEARING UL 255X | 2344 | | 4 |
32- | V2-12--_ -_ ISO7045_CZ | CROSS RECESSED SCREW ISO7045 M2X12 Z | 2423 | | 2 |
33- | V2-6--_ -_ ISO7045_CZ | CROSS RECESSED SCREW ISO7045 M2X6 Z | 2439 | | 4 |
34- | V2-10--_ -_ ISO7046-1_CH | CROSS RECESSED SCREW ISO7046-1 M2X10 H | 2596 | | 2 |
31+ | RMB_UL_255X | RMB BEARING UL 255X | 2344 | | 6 |
32+ | S1_5-6--_ -_ I2338_B | Dowel pin Ø1.5 x 6 stainless steel A2, DIN7, ISO2338B, VSM12771, UNI1707 | 2354 | | 10 |
33+ | MYONIC_SHIM_PS_2-5_4_THK_0-1 | Myonic Precision Shim PS Ø3x4 mm thickness 0,10 mm | 2698 | | 8 |
34+ | MYONIC_SHIM_PS_5_7_THK_0- 15 | Myonic Precision Shim PS Ø5x7 mm thickness 0,15 mm | 2701 | | 10 |
35+ | RC_IIT_023_P_027 | Eyelid motor encoder support | 5831 | A5 | 1 |
36+ | RC_IIT_023_P_058 | Eyes tilt rod | 5848 | A2 | 1 |
3537| G2-2--_ -_ U5923_G | Set screw, hex socket, M2,0 x 2,0, stainless steel A2, DIN913, ISO4026, UNI5923 | 12766 | | 4 |
36- | M3X06 -6LOBE-ISO14581-A2-70 | M3 x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15831 | | 2 |
38+ | M3x06 -6LOBE-ISO14581-A2-70 | M3x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15831 | | 6 |
3739| M1_6X04-6LOBE-ISO14583-A4-70 | M1.6 x 4 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A4-70 | 15841 | | 2 |
3840| M2X08-6LOBE-ISO14583-A2-70 | M2 x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15854 | | 4 |
39- | M2_5X06-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15993 | | 4 |
41+ | M2_5X06-6LOBE-ISO14581-A2-70 | M2.5 x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2- | 15931 | | 4 |
42+ | M2_5X06-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15993 | | 8 |
43+ | M2_5X08-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15994 | | 6 |
4044| M3X06-6LOBE-ISO14583-A2-70 | M3 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 16022 | | 4 |
4145| IC_034_G_007 | Eye bulb with inserts | 18375 | 0 | 2 |
4246| IC_034_G_025 | Orin NX support with inserts | 18384 | 0 | 1 |
@@ -52,6 +56,8 @@ This upgrade kit is meant to update the head with new eyes composed by high-reso
5256| IC_034_G_030 | Support for COM with inserts | 18401 | 0 | 1 |
5357| IC_034_G_031 | Support for connector with inserts | 18402 | 0 | 1 |
5458| IC_034_G_034 | Cover backpack assy | 18405 | 0 | 1 |
59+ | IC_034_P_034 | V2 head eyes tilt frame | 18475 | 0 | 1 |
60+
5561## Content material WKIT_009
5662
5763| Code | BOM | Alias | Rev | Qty | Description |
@@ -79,9 +85,9 @@ This upgrade kit is meant to update the head with new eyes composed by high-reso
7985
8086| 🔘 Click to download the PDF |
8187| :---: |
82- | [ ![ ] ( img/4.JPG )] ( https://github.com/icub-tech-iit/electronics-wiring-public/blob/master/icub-upgrade-kits/kit_009/17018_0.0.0_Harness_WKIT_009_Cameras%20updrade%20kit.pdf ) |
88+ | [ ![ ] ( img/Head4k_wiring.jpg )] ( https://github.com/icub-tech-iit/electronics-wiring-public/blob/master/icub-upgrade-kits/kit_009/17018_0.0.0_Harness_WKIT_009_Cameras%20updrade%20kit.pdf ) |
8389
84- ## Content material EKIT_009
90+ ## Content material EKIT_009
8591| Pieces | Alias | Rev | Description | Code Wgst |
8692| :---: | :-----------: | :---: | :---: | :---: |
8793| 1 | PUIAUDIO_AS04004PO-2-R_SPKR| | Miniature speaker, 4R, 82dBA,200Hz, 3W, | 12035 |
@@ -102,7 +108,7 @@ Draft Logic schematic
102108
103109| 🔘 Click to download the PDF |
104110| :---: |
105- | [ ![ ] ( img/2.JPG )] ( https://github.com/icub-tech-iit/electronics-wiring-public/blob/master/icub-upgrade-kits/kit_009/16519_0.1_Logic_EKIT_009_Cameras%20upgrade%20kit.pdf ) |
111+ | [ ![ ] ( img/Head4k_logic_schematic.jpg )] ( https://github.com/icub-tech-iit/electronics-wiring-public/blob/master/icub-upgrade-kits/kit_009/16519_0.1_Logic_EKIT_009_Cameras%20upgrade%20kit.pdf ) |
106112
107113## Assembly instruction
108114
@@ -115,7 +121,7 @@ Due to mechanical design constraints, the kinematics of the upgraded head underw
115121
116122$$
117123\begin{equation}
118- T_E =
124+ T_E =
119125\begin{bmatrix}
1201261 & 0 & 0 & 0 \\
1211270 & 1 & 0 & 0 \\
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