Overview
The power distribution board (PDB) is designed to use a given 12V 10A supply from the Amiga platform and provide fused and protected 12V and 5V power supplies to the end effectors involved in our subsystems. These power supplies are used in conjunction with four Dynamixel Power Distribution Boards to establish power supplies for the Cutter, Gripper and Left/Right Teleop arms. In addition to this, an emergency stop button is wired in series with the power supply to enable a total power shutdown in case of unsafe behavior.
Each of the four powered device groups have different power requirements. Specifically, the Cutter draws a maximum of 5.2A@12V, the Gripper motors draw a maximum of 4A@12V, and each of the teleoperation arms consists of non-torque-enabled motors which draw 119mA@5V. The fused and protected 12V is used for the Cutter and Gripper motors, and a Pololu 1A@5V step-down voltage converter is used to supply the 5V needed for the teleoperation motors.
Schematic
Board Layout
Completed Board
Bill of Materials and Datasheets
| Part Name | Qty | Purpose | Image | Datasheet |
| Wago 237-102 2 Position Wire to Board Terminal Block Horizontal with Board 0.197″ (5.00mm) Through Hole | 6 | Connections for E-stop, 12V in, 2x 12V out, and 2x 5V out |  | Link |
| Bel Fuse Inc. 0685H9100-01 | 1 | 10-Amp fuse for overcurrent protection at input |  | Link |
| Bel Fuse Inc. C1F 5 | 2 | 5-Amp fuse for overcurrent protection for the Gripper and Cutter | | Link |
| Bel Fuse Inc. C1F 1 | 1 | 1-Amp fuse for overcurrent protection for the two Teleoperation arms | | Link |
| Stackpole Electronics Inc RMCF1206JT510R | 3 | Current limiting resistors for indicator LEDs |  | Link |
| Stackpole Electronics Inc RMCF1206JT150R | 1 | Current limiting resistor for indicator LED | | Link |
| Lite-On Inc. LTST-C230KRKT | 4 | Indicator LEDs |  | Link |
| Bourns P4SMA16A 22.5V Clamp 18.2A Ipp Tvs Diode Surface Mount DO-214AC (SMA) | 1 | Reverse and Over-voltage protection, 12V rail |  | Link |
| Littelfuse Inc. SMAJ5.0A | 1 | Reverse and Over-voltage protection, 5V rail | | Link |
| Pololu item #4083, S13V10F5 | 1 | 5V 1A step-down switching regulator |  | Link |
| ZAQW AC660V 10A Plastic Shell Red Sign Emergency Stop Mushroom Push Button Switch | 1 | Emergency stop for entire power distribution board |  | Link |