🔋 PCB - Power

This section describes the power distribution and protection architecture of the robot, highlighting the circuits and components responsible for ensuring a safe, stable, and efficient power supply from the main battery.

It covers how power is:

• Protected against overcurrent and short circuits using dedicated fuses

• Converted and regulated to different voltage levels required by each subsystem through Step-Down converters

• Distributed to motor drivers, controllers, sensors, and other electronic modules

The objective is to guarantee consistent and reliable electrical power, reducing the risk of damage to critical components and improving the overall safety and performance of the robot.

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🔌GSA 4-R FUSE

To ensure reliable overcurrent protection, a GSA 4-R fuse is integrated into the power distribution circuit. It is positioned immediately downstream of the battery and upstream of Step-Down 2, which supplies regulated power to the encoders and motor drivers.

🔧 Function:

The fuse acts as a protection device against overcurrent. It interrupts the electrical current when it exceeds a safe threshold, preventing damage to electronic components in cases of short circuits or overloads.

📌Summary

Item	Specification
Type	GSA 4-R
Nominal Current	4A
Location	Between the battery and Step-Down 2
Function	Overcurrent and short-circuit protection

⚡ Note: Choosing the correct fuse rating is essential. A value too low may lead to unnecessary interruptions, while a value too high may fail to properly protect the components.

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↘️ Step-Down Converter — LM2596

To supply different sections of the robot with the appropriate voltages, we use two step-down modules (buck converters) based on the LM2596 regulator. These modules convert the main battery voltage (24V) to lower, stable output voltages.

⚡ Module Overview:

• Step-Down 1: Converts 24V → 5V; powers the encoders and motor drivers.
• Step-Down 2: Converts 24V → 14.8V; used to power the manipulator.

✅ Why LM2596?

We chose the LM2596 due to its versatility and excellent performance in embedded power applications:

• High efficiency, reaching up to ~90%, which reduces energy waste and extends battery life.
• Built-in protections against overcurrent and overheating, improving circuit safety and reliability.
• Adjustable output voltage via an onboard trimpot, allowing easy fine-tuning.
• Low cost and wide availability in the market, making it easy to replace or scale.

📌Summary

Item	Step-Down 1	Step-Down 2
Regulator Model	LM2596	LM2596
Input Voltage	24 V	24 V
Output Voltage	5 V	14.8 V
Powered Components	Encoders and motor drivers	Manipulator
Efficiency	~90%	~90%
Protections	Overcurrent and thermal shutdown	Overcurrent and thermal shutdown

⚡ Note: Output voltages were selected based on the requirements of each subsystem, ensuring safe and stable operation.