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Halberd v2

RemkoPr·airo-halberd·KiCad/halberd_v2/halberd_v2.kicad_pcb

Halberd v2 PCB layout, top view — open source board by RemkoPr
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About the Halberd v2 PCB

Halberd v2 is an open source PCB design by RemkoPr, published on GitHub. It is a 4-layer board measuring 72.8 × 82 mm, with 72 components from 47 distinct parts.

Other key parts include the AP63300, AP2112K-3.3TRG1, LTC4411ES5-TRMPBF and TXB0102DCU. By type, the board carries 20 resistors, 14 capacitors, 12 connectors, 7 transistors, 6 ICs and 4 diodes.

It belongs with the iot & wireless designs in this gallery.

From the project

The Halberd coupling (paper), named after its characteristic PCB shape, is a replacement of the Robotiq I/O Coupling enhanced with a Nina B301 microcontroller, developed at IDLab-AIRO, Ghent University (Belgium), imec. It is particularly suited towards robotic manipulation augmen

The Halberd coupling (paper), named after its characteristic PCB shape, is a replacement of the Robotiq I/O Coupling enhanced with a Nina B301 microcontroller, developed at IDLab-AIRO, Ghent University (Belgium), imec. It is particularly suited towards robotic manipulation augmented by tactile sensing in the fingertips: the tactile sensors can be read from the robot wrist, without the need for external power or data cables.

Halberd v2, from the project README
From the project README

Main components on the Halberd v2

AP63300AP2112K-3.3TRG1LTC4411ES5-TRMPBFTXB0102DCU

Halberd v2 bill of materials (BOM)

72 components, 47 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
AP63300
IC1
1
AP2112K-3.3TRG1
IC2
2
LTC4411ES5-TRMPBF
U1, U2
2
TXB0102DCU
U3, U4
3
BSS138K-13
Q1, Q3, Q4
2
RN2903
Q2, Q5
1
BSS159NH6327XTSA2
Q6
1
SI7469DP
Si7469DP
Q7
1
GT-USB-7025
J1
1
C434807
Conn_Coaxial
J2
4
1987724
J3, J4, J5, J6
1
3PIN_HEADER
J7
1
15PIN_HEADER
J8
1
10PIN_HEADER
J9
1
10PIN_HEADER
J10
1
10PIN_HEADER
J11
1
12PIN_SERVO_HEADER
J15
1
LF110-33
F1
1
BLM18EG101TN1D
FL1
1
C5802697
~
NINA1
Show 27 more
QtyPartRefs
1
TL3340
SW1
3
TestPoint
TP6, TP7, TP8
1
LTST-C170GKT
LED1
1
C455074
PRTR5V0U2AX,215
D1
1
C6938384
LED_RGBA
D3
2
C5828742
DIODE
D4, D5
1
C22463822
6µ8
L1
5
C602037
22µF
C1, C2, C3, C8, C9
1
4N7
4n7
C4
2
1n
C5, C6
1
C15849
1µF
C10
2
100NF
100nF
C11, C14
1
10U
10u
C12
1
C1705
4µ7 (1mOhm ESR)
C13
1
47PF
47pF
C15
1
1M
R1
2
330
R2, R6
4
7K32
7k32
R3, R5, R7, R8
1
750
R4
2
100K
100k
R9, R11
1
50K
50k
R10
1
0
R12
2
5.1K
5.1k
R13, R18
1
560
R14
3
470K
470k
R15, R16, R17
1
158K
158k
R19
1
30.1K
30.1k
R20

Halberd v2 design files

The KiCad project lives in the RemkoPr/airo-halberd repository on GitHub; these links point at the commit this page was built from.

Halberd v2: common questions

How big is the Halberd v2 PCB?

The Halberd v2 measures 72.8 × 82 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the Halberd v2?

72 components, from 47 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the Halberd v2 design files?

From the RemkoPr/airo-halberd repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the Halberd v2 design in my own project?

The repository has no license, so all rights stay with RemkoPr. Use it as a reference, and ask the author before reusing the design.

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