diff --git a/docs/upgrade_kits/head_4k/img/2.JPG b/docs/upgrade_kits/head_4k/img/Head4k_logic_schematic.jpg similarity index 100% rename from docs/upgrade_kits/head_4k/img/2.JPG rename to docs/upgrade_kits/head_4k/img/Head4k_logic_schematic.jpg diff --git a/docs/upgrade_kits/head_4k/img/3.JPG b/docs/upgrade_kits/head_4k/img/Head4k_parts.jpg similarity index 100% rename from docs/upgrade_kits/head_4k/img/3.JPG rename to docs/upgrade_kits/head_4k/img/Head4k_parts.jpg diff --git a/docs/upgrade_kits/head_4k/img/4.JPG b/docs/upgrade_kits/head_4k/img/Head4k_wiring.jpg similarity index 100% rename from docs/upgrade_kits/head_4k/img/4.JPG rename to docs/upgrade_kits/head_4k/img/Head4k_wiring.jpg diff --git a/docs/upgrade_kits/head_4k/img/1.JPG b/docs/upgrade_kits/head_4k/img/iCubHead4K_Backpack.jpg similarity index 100% rename from docs/upgrade_kits/head_4k/img/1.JPG rename to docs/upgrade_kits/head_4k/img/iCubHead4K_Backpack.jpg diff --git a/docs/upgrade_kits/head_4k/support.md b/docs/upgrade_kits/head_4k/support.md index 73deeb53f..a1f3c17fc 100644 --- a/docs/upgrade_kits/head_4k/support.md +++ b/docs/upgrade_kits/head_4k/support.md @@ -6,9 +6,9 @@ ## Upgrade Kit -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. +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. -
![](img/1.JPG)
+
![](img/iCubHead4K_Backpack.jpg)
| | | | :---: | :---: | @@ -18,25 +18,29 @@ This upgrade kit is meant to update the head with new eyes composed by high-reso | # | Code | Alias | Rev | UM | Qty | Description | | :---: | :---: | :---: | :---: | :---: | :---: | :---: | -| 1 | | MKIT_009 | | Pieces | 1 | | +| 1 | 18476 | MKIT_009 | | Pieces | 1 | | | 2 | 17018 | WKIT_009 | | Pieces | 1 | iCub2.x, Basler cameras, GPU, and COM Express Type 10 (wiring) | | 3 | 16519 | EKIT_009 | | Pieces | 1 | iCub2.x, Basler cameras, GPU, and COM Express Type 10 (electronics) | ## Content material MKIT_009 -
![](img/3.JPG)
+
![](img/Head4k_parts.jpg)
| Alias | Description | Code | Rev | Qty | |-------------------------------|-----------------------------------------------------------------------------|-------|-----|-----| -| RMB_UL_255X | RMB BEARING UL 255X | 2344 | | 4 | -| V2-12--_-_ISO7045_CZ | CROSS RECESSED SCREW ISO7045 M2X12 Z | 2423 | | 2 | -| V2-6--_-_ISO7045_CZ | CROSS RECESSED SCREW ISO7045 M2X6 Z | 2439 | | 4 | -| V2-10--_-_ISO7046-1_CH | CROSS RECESSED SCREW ISO7046-1 M2X10 H | 2596 | | 2 | +| RMB_UL_255X | RMB BEARING UL 255X | 2344 | | 6 | +|S1_5-6--_-_I2338_B | Dowel pin Ø1.5 x 6 stainless steel A2, DIN7, ISO2338B, VSM12771, UNI1707 | 2354 | | 10 | +|MYONIC_SHIM_PS_2-5_4_THK_0-1 | Myonic Precision Shim PS Ø3x4 mm thickness 0,10 mm | 2698 | | 8 | +|MYONIC_SHIM_PS_5_7_THK_0- 15 | Myonic Precision Shim PS Ø5x7 mm thickness 0,15 mm | 2701 | | 10 | +| RC_IIT_023_P_027 | Eyelid motor encoder support | 5831 | A5 | 1 | +| RC_IIT_023_P_058 | Eyes tilt rod | 5848 | A2 | 1 | | G2-2--_-_U5923_G | Set screw, hex socket, M2,0 x 2,0, stainless steel A2, DIN913, ISO4026, UNI5923 | 12766 | | 4 | -| M3X06-6LOBE-ISO14581-A2-70 | M3 x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15831 | | 2 | +| M3x06-6LOBE-ISO14581-A2-70 | M3x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15831 | | 6 | | M1_6X04-6LOBE-ISO14583-A4-70 | M1.6 x 4 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A4-70 | 15841 | | 2 | | M2X08-6LOBE-ISO14583-A2-70 | M2 x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15854 | | 4 | -| M2_5X06-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15993 | | 4 | +| M2_5X06-6LOBE-ISO14581-A2-70 | M2.5 x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2- |15931 | | 4 | +| M2_5X06-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15993 | | 8 | +| M2_5X08-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15994 | | 6 | | M3X06-6LOBE-ISO14583-A2-70 | M3 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 16022 | | 4 | | IC_034_G_007 | Eye bulb with inserts | 18375 | 0 | 2 | | 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 | IC_034_G_030 | Support for COM with inserts | 18401 | 0 | 1 | | IC_034_G_031 | Support for connector with inserts | 18402 | 0 | 1 | | IC_034_G_034 | Cover backpack assy | 18405 | 0 | 1 | +| IC_034_P_034 | V2 head eyes tilt frame | 18475 | 0 | 1 | + ## Content material WKIT_009 | 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 | 🔘 Click to download the PDF | | :---: | -| [![](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) | +| [![](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) | -## Content material EKIT_009 +## Content material EKIT_009 | Pieces | Alias | Rev | Description | Code Wgst | | :---: | :-----------: | :---: | :---: | :---: | | 1 |PUIAUDIO_AS04004PO-2-R_SPKR| | Miniature speaker, 4R, 82dBA,200Hz, 3W, | 12035 | @@ -102,7 +108,7 @@ Draft Logic schematic | 🔘 Click to download the PDF | | :---: | -| [![](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) | +| [![](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) | ## Assembly instruction @@ -115,7 +121,7 @@ Due to mechanical design constraints, the kinematics of the upgraded head underw $$ \begin{equation} -T_E = +T_E = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\