{"id":250,"date":"2026-02-21T00:30:16","date_gmt":"2026-02-21T00:30:16","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/?page_id=250"},"modified":"2026-04-05T17:26:11","modified_gmt":"2026-04-05T17:26:11","slug":"drawings-schematics-and-datasheets","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/drawings-schematics-and-datasheets\/","title":{"rendered":"Drawings, Schematics, and Datasheets"},"content":{"rendered":"\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading has-large-font-size\"><strong>Electrical<\/strong><\/h2>\n\n\n\n<h2 class=\"wp-block-heading\">Wiring diagrams<\/h2>\n\n\n\n<p>The AXilles electrical architecture is designed for high-performance robotic control, integrating a <strong>Jetson Orin Nano<\/strong> for high-level processing with the <strong>AK-80-9 high-torque actuator<\/strong>.<\/p>\n\n\n<div style=\"position: relative;width: 100%;padding-top: calc(max(100%, 400px))\"><iframe style=\"position: absolute;top: 0;left: 0;width: 100%;height: 100%;border: none\" src=\"https:\/\/app.cirkitdesigner.com\/project\/d771ff88-4d6c-4d6b-9c37-7cf74491f796?view=interactive_preview\"><\/iframe><\/div>\n<p><!--Please include the following link, which help us continue to improve and support the embed, making it a valuable tool for your audience.--><\/p>\n\n\n<h2 class=\"wp-block-heading\">Schematic Circuit Diagrams<\/h2>\n\n\n\n<p>Central to the exoskeleton is a custom-designed Power Distribution PCB. This board manages the 24V battery input and splits it into three specialized rails to protect sensitive electronics from the high-current demands of the motor.<\/p>\n\n\n\n<p>Technical Documentation:<\/p>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/1IMPjUEkLwpxbWVOxPBtZcafxWYswKFN1\/view?usp=sharing\">https:\/\/drive.google.com\/file\/d\/1IMPjUEkLwpxbWVOxPBtZcafxWYswKFN1\/view?usp=sharing<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"724\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/WhatsApp-Image-2026-04-03-at-9.06.30-PM-1024x724.jpeg\" alt=\"\" class=\"wp-image-385\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/WhatsApp-Image-2026-04-03-at-9.06.30-PM-1024x724.jpeg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/WhatsApp-Image-2026-04-03-at-9.06.30-PM-300x212.jpeg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/WhatsApp-Image-2026-04-03-at-9.06.30-PM-768x543.jpeg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/WhatsApp-Image-2026-04-03-at-9.06.30-PM-1536x1086.jpeg 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/WhatsApp-Image-2026-04-03-at-9.06.30-PM.jpeg 1600w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">PCB Layout<\/h2>\n\n\n\n<h4 class=\"wp-block-heading\"><strong>Full Layout Overview<\/strong><\/h4>\n\n\n\n<p id=\"p-rc_bf8e1c183c359e23-34\">The complete layout integrates the high-current XT-60 and XT-30 connectors with a compact SOT-23 and SOT-223 footprint for the regulation suite. Component placement was optimized to minimize the loop area of the LMR51635 buck converter, reducing electromagnetic interference (EMI) across the entire system.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"508\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/full-1024x508.jpeg\" alt=\"\" class=\"wp-image-399\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/full-1024x508.jpeg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/full-300x149.jpeg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/full-768x381.jpeg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/full-rotated.jpeg 1267w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Top Layer<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"516\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/top-1024x516.jpeg\" alt=\"\" class=\"wp-image-400\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/top-1024x516.jpeg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/top-300x151.jpeg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/top-768x387.jpeg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/top-rotated.jpeg 1262w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Bottom Layer<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"507\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/bottom-1024x507.jpeg\" alt=\"\" class=\"wp-image-401\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/bottom-1024x507.jpeg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/bottom-300x148.jpeg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/bottom-768x380.jpeg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/bottom-rotated.jpeg 1263w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"746\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/image-3-1024x746.png\" alt=\"\" class=\"wp-image-396\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/image-3-1024x746.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/image-3-300x219.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/image-3-768x560.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/04\/image-3.png 1228w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Datasheets<\/h2>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"345\" height=\"425\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/jetson_header.png\" alt=\"\" class=\"wp-image-300\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/jetson_header.png 345w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/jetson_header-244x300.png 244w\" sizes=\"auto, (max-width: 345px) 100vw, 345px\" \/><\/figure>\n\n\n\n<p><a href=\"https:\/\/drive.google.com\/file\/d\/1-k-585iUTulyKYTSWJkTf-rSgAttRNYF\/view?usp=sharing\" data-type=\"link\" data-id=\"https:\/\/drive.google.com\/file\/d\/1-k-585iUTulyKYTSWJkTf-rSgAttRNYF\/view?usp=sharing\">Nvidia Jetson Orin<\/a><br><a href=\"https:\/\/drive.google.com\/file\/d\/1ZSa7c4aTZSxt1D4Ufn3IsIV0rzJ3fzR1\/view?usp=sharing\" data-type=\"link\" data-id=\"https:\/\/drive.google.com\/file\/d\/1ZSa7c4aTZSxt1D4Ufn3IsIV0rzJ3fzR1\/view?usp=sharing\">AS5600<\/a><br><a href=\"https:\/\/drive.google.com\/file\/d\/1UGccrgRZTe1bn8ZBqfLBjfcfS-IN5JOb\/view?usp=sharing\" data-type=\"link\" data-id=\"https:\/\/drive.google.com\/file\/d\/1UGccrgRZTe1bn8ZBqfLBjfcfS-IN5JOb\/view?usp=sharing\">ADS1115<\/a><br><a href=\"https:\/\/drive.google.com\/file\/d\/1TBL0pSXpPF6Vm_23-YlPlQ5Z7v5ZPckL\/view?usp=sharing\" data-type=\"link\" data-id=\"https:\/\/drive.google.com\/file\/d\/1TBL0pSXpPF6Vm_23-YlPlQ5Z7v5ZPckL\/view?usp=sharing\">BNO085<\/a><br><a href=\"https:\/\/drive.google.com\/file\/d\/1WcqH5QW6XWV8kB654E-r3EfvPmFdYA6E\/view?usp=sharing\" data-type=\"link\" data-id=\"https:\/\/drive.google.com\/file\/d\/1WcqH5QW6XWV8kB654E-r3EfvPmFdYA6E\/view?usp=sharing\">CubeMars AK80-9 V3 <\/a><\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading has-large-font-size\">Mechanical<\/h2>\n\n\n\n<p>The mechanical design of the AXilles exoskeleton focuses on a lightweight yet rigid frame capable of transferring high torque to the ankle joint. By utilizing precision-machined components and a modular architecture, we achieved a balance between user comfort and mechanical durability.<\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Drawings<\/h2>\n\n\n\n<p>To illustrate the complexity of the assembly, the following exploded views highlight the integration of the actuator housing, force transmission mechanisms, and the ergonomic interface. This view provides a detailed look at the internal components, including the custom fasteners and alignment features that ensure smooth kinematic transitions.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"780\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/marked_exploded-1024x780.png\" alt=\"\" class=\"wp-image-301\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/marked_exploded-1024x780.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/marked_exploded-300x228.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/marked_exploded-768x585.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/marked_exploded-1536x1170.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-content\/uploads\/sites\/100\/2026\/02\/marked_exploded.png 1627w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1C8rBvEEuo2_iA6CDgbrXFueN1xpzWTzC\/preview\" width=\"640\" height=\"480\"><\/iframe><\/p>\n\n\n\n<p><iframe loading=\"lazy\" src=\"https:\/\/drive.google.com\/file\/d\/1_Ru0jwnSo-hkHV0-A2r2iYa5IOwv2FGV\/preview\" width=\"640\" height=\"480\"><\/iframe><\/p>\n\n\n","protected":false},"excerpt":{"rendered":"<p>Electrical Wiring diagrams The AXilles electrical architecture is designed for high-performance robotic control, integrating a Jetson Orin Nano for high-level processing with the AK-80-9 high-torque actuator. Schematic Circuit Diagrams Central to the exoskeleton is a custom-designed Power Distribution PCB. This board manages the 24V battery input and splits it into three specialized rails to protect <a href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/drawings-schematics-and-datasheets\/\" rel=\"nofollow\"><span class=\"sr-only\">Read more about Drawings, Schematics, and Datasheets<\/span>[&hellip;]<\/a><\/p>\n","protected":false},"author":474,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-250","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-json\/wp\/v2\/pages\/250","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-json\/wp\/v2\/users\/474"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-json\/wp\/v2\/comments?post=250"}],"version-history":[{"count":7,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-json\/wp\/v2\/pages\/250\/revisions"}],"predecessor-version":[{"id":421,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-json\/wp\/v2\/pages\/250\/revisions\/421"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teami\/wp-json\/wp\/v2\/media?parent=250"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}