Change submittedMotor controller PCB · Rev C82 × 54 → 96 × 60 mm
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Connect CAD, schematics, BOMs, supplier feedback, robot software, simulations, tests, issues, and controlled documents. Osseus reviews each proposal against the evidence, traces likely downstream impact, and keeps every action reviewable by the responsible engineer.
Specialist agents review every revision and propose the fix.
Agents trace every revision through CAD, firmware and tests, keep mass, power and thermal budgets honest, and check each change against the standards you certify to. Your engineers make the architectural calls.
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Rev C
RequirementsEnclosure CADFirmwareTest plan
Breach1.4 mm
Proposed fix
Widen the enclosure pocket to 98 × 62 mm
Onshape enclosure · ICD clearance note
ApproveAdjustME owner
Re-checked4.6 mm
- ✓REQ-ELEC-214Pass
- ✓Fit + thermal simRerun
BOM changeBattery bracket · v2+180 g · +2.4 W
Over60 g
Proposed fix
Switch the bracket to a 6061-T6 lattice, −140 g
BOM line 42 · CAD · payload spec
ApproveAdjustME owner
Re-checked80 g clear
- ✓Payload specPass
- ✓Mass budgetGreen
ISO standardISO 13485 · §7.3.6Greenlight Guru · DHF-118
Design inputDI-114 · tip force limitVerificationVV-221 · passed
Gap92%
Proposed fix
Draft VV-118 for the untraced design input
Verification plan · risk file · DHF-118
ApproveAdjustQA owner
Re-checked100%
- ✓DI-114Traced
- ✓Safety caseComplete
Workflow builderFlag any actuator swap that pushes joint duty cycle past 70%, and propose a derate.
- ✓Actuator swapTrigger
- ✓Joint duty cycleCheck
- ✓Derate or resizeProposal
Live74%
Proposed fix
Derate joint 4 to a 62% duty cycle
Motion profile · actuator margin sheet
ApproveAdjustControls owner
Re-checked62%
- ✓Joint 4 duty cyclePass
- ✓Your checkGreen
Step 1 of 4
An engineer submits a revision, and the agent reads it against its source of truth.
Why Osseus
Revisions compared on the artefact itself, findings pinned where they happened, every signal owned by a person, cost moving with each revision, and connected documents that keep up on their own.
Learn moreReview the real hardware, together.Internal engineers and external suppliers comment on the exact dimension, connector, or part. Osseus preserves the decision and any manufacturing constraint for the next design.
S2_x −110.0 · V2
S5_x 110.0 · V2
S2 and S5 motor centres move from ±108.5 to ±110.0 mm for the new lower-leg bracket. V1 stays released until this review closes.
整块底板在我们的三轴机床上，孔位只能保证 ±0.1 毫米。±110.0 没问题，但公差再小就要上坐标镗，成本翻三倍。
Auto-translated · Chinese to English
Across the full plate our 3-axis mill holds ±0.1 mm true position on these bores. ±110.0 is fine, but anything tighter means jig boring at three times the cost.
✓
Supplier constraint saved
±0.1 mm true position on the S2 and S5 bores
Carried into your next design review of this partFindings land on the schematic, not in a list you have to decode.AutoReview reads the real Eagle sheet, pins each finding on the net that caused it, and cites the file it came from. Turn on external intelligence and it reads the public engineering record too, and comes back with something your own files could not tell you.
5V net carries all eighteen servosNet 5V ties BUCK_OUT to pin 1 of LEG1…LEG6, to U$1 VIN and to both Pi 5 V pins. Each leg puts three DS3230Pro-270 servos on a single B6B-XH-A contact, so one 2.5 mm pin sees a whole leg’s peak current. Size the contact and the 10 A converter for simultaneous startup, or split the servo rail from logic.
12V_PRE leaves the XT60 at LSP1 and returns as 12V at LSP2. The only device in that gap is the SPST rocker from the BOM, in front of a 3S 5200 mAh pack. Your own Hex2 mainboard v2.0 put an F1 3557-2 fuse holder and an E_STOP XT60 in exactly this position.
100R drives the 5 V indicator near 30 mAThe 5V LED sits on 100 Ω to ground. At a 2 V forward drop that is about 30 mA through an 0805 chip LED usually rated 20 mA continuous; 470R gives the 12 V indicator about 21 mA. The BOM also lists one LED and one resistor at “value TBD”, where the sheet places two of each.
U$1 VIN sits on that rail with no VUSB isolation recordedPJRC state that the VUSB–VIN pad on a Teensy 4.1 must be cut before VIN is powered externally. Uncut, the 5 V servo rail back-feeds the USB host the moment anyone plugs in to reflash. Nothing in the sheet, the BOM or the build notes records that step.
Advisory. Community and vendor sources never enter a compliance record on their own.
Where Osseus looked
- Engineering Q&ARobotics and Electronics Stack Exchange · Stack Overflow327
- Practitioner communitiesr/robotics · r/AskElectronics · EEVblog · RCGroups284
- Vendor forumsPJRC Teensy · Pololu · Arduino · ROS Discourse219
- Vendor documentationPJRC pin cards · Raspberry Pi · DFRobot notes186
- Datasheets and application notesJST XH · AMASS XT30 / XT60 · DSSERVO141
- Papers and open hardwarearXiv cs.RO · ICRA and IROS · public PCB repositories118
- Standards and manufacturingIPC-2221B · IPC-9592 · JLCPCB capability data74
- Parts and lifecycle dataOctopart · Digi-Key · Mouser · LCSC63
3 signals kept for review
New finding · vendor documentation
Cut the VUSB–VIN pad before powering
Connector datasheet
B6B-XH-A contacts are rated 3 A, derated to 2.4 A continuous
Practitioner report
Builders report brownouts when a converter chain cannot meet peak load
VIN externally
Your files show U$1 VIN on the 5V rail. PJRC require the pad to be cut first, or the rail back-feeds the USB host on reflash. Not derivable from the sheet or the BOM.
Three DS3230Pro-270 servos share one pin 1 contact per leg, which puts the high finding above the published rating.
JST XH series connector datasheetjst.com via pololu.com ↗A dated thread describes erratic startup on a shared rail. Context for the sizing decision, not evidence.
Power supply issues on a hexapod using multiple convertersrobotics.stackexchange.com · 2 July 2025 ↗Every signal becomes work somebody owns.A supplier constraint, an AutoReview finding and a cost opportunity land in one queue, each still carrying the revision it came from. Jira is written only after a person approves the draft.
5 Jira issues drafted, none createdTitle, evidence links, owner and acceptance checks are ready for a person to approve.
What each revision costs, and where a supplier already told you how to save.Osseus prices the lines it has evidence for, shows what the revision did to the cost, and turns prior supplier guidance into a number you can check by hand.
Line changed by the revisionv1.0v2.0Change
Your internal documents are updated by the change, not after it.Osseus knows which getting-started page, BOM sheet, controls map and interface document read each part, pin and connector. When a revision merges it drafts the exact edit into every one of them, in the tool that owns the document, and holds it until an owner approves.
- E_STOP connectorXT30→XT60
- Overcurrent protectionF1 · 3557-2 fuse holder added
- 5 V supplyexternal module→onboard DFR0753
- Level shifterU1 74LVC1T45GW→U2 SN74LVC1T45DBVR
- Signal pinsLEDSIG 33 · PWRSIG 3→19 · 11
Read from the pinned v1.0 and v2.0 Eagle files. No number here is typed by hand.
getting-started.mdGitHub · docs/Hex2 · owned by Dana Cole
Plug the battery into the XT30 pigtailPlug the battery into the XT60 e-stop pigtail
CheckingEdit draftedUpdated
hexapod_bom – electrical.pdfSharePoint · Hex2_resources/BOM · owned by Maya Chen
12 V → 5 V converter, externalDFR0753 onboard buck · F1 3557-2 fuse holder
CheckingEdit draftedUpdated
controls_mapping.pdfSharePoint · Hex2_resources · owned by Priya Raman
PWRSIG on Teensy pin 3PWRSIG on Teensy pin 11
CheckingEdit draftedUpdated
common-commands.mdGitHub · docs/Hex2 · owned by Dana Cole
status LED on pin 33status LED on pin 19
CheckingEdit draftedUpdated
Hex2 harness interface documentConfluence · Electrical space · owner not set
Level shifter U1 74LVC1T45GW,125U2 SN74LVC1T45DBVR · check I/O direction
CheckingNeeds an ownerNeeds an owner
✓Also read: 2024-11-05_heatset_insert_guide.pdf — nothing in it depends on this revision, so it is left alone.
Every edit is written by Osseus into the tool that owns the document, and only after the document owner approves the draft. Document wording is illustrative; the revision delta is read from the pinned Eagle sources.
4 approved and written1 held for an owner
Review the real hardware, together.Pin feedback to the released Hex1 drawing, keep the discussion with the artifact, and turn the final decision into tracked work.
PartCategoryQty
- DS3230Pro 270° servoElectronics18
- Teensy 4.0Controller1
- Raspberry Pi Zero WController1
- Micro limit switchElectronics6
- S1 printed partPrinted parts6
- S2 printed partPrinted parts12
- MagnetHardware48
- BearingHardware12
- JST-SM connectorHarness18
Let AI find the issue, then keep a human in control.AutoReview checks a staged Hex1 schematic revision, cites the parsed Eagle evidence, and creates tracked feedback for triage. The upstream baseline is unchanged.
Staged demo revisionUpstream baseline unchanged
Track every review decision in one engineering queue.Comments, markups, AutoReview findings, supplier feedback, and verification work share the same status model. Jira remains an approval-gated proposal.
Compare the engineering change inside the same review.Osseus parses two real Hex2 Eagle revisions, overlays the semantic views, and keeps the reason for each change beside the source evidence.
v1 removed v2 added
100%
Ask what a proposed change touches before anyone edits a source system.Osseus answers from the released Hex1 drawing and code, cites each dependency, and prepares owner-reviewed proposals for the affected teams.
MC
What changes if S2 and S5 leg centres move from ±108.5 mm to ±110.0 mm?
OsseusAnswer grounded in connected sourcesMoving S2 and S5 changes the released geometry input used by the leg-coordinate table. The same offsets are defined in hexapod.hpp and consumed by the kinematics path in hexapod.cpp.
Treat this as a staged proposal: update the drawing and constant together, review pitch and roll compensation, then rerun level, pitch, and roll motion checks.
Ask a follow-up about this change…
H1-042 · staged updatesReview before Osseus writes to any tool
Revise the S2/S5 drawing dimensionsDrawing proposal · Mechanical ownerReviewPatch offsets to ±110.0 mmhexapod.hpp · Embedded ownerDraftReview pitch and roll compensationhexapod.cpp · Controls ownerSign-off
Run level, pitch, and roll checksValidation ownerTest planPin comments to the exact joint, trace, or wire — mechanical, electrical, and firmware reviewers in one thread.
Flags what changed since the last revision and why — and answers your questions with citations, from Teamcenter to meeting notes.
Teamcenter · REV-C
ROS Discourse
Stack OverflowEvery comment becomes a tracked to-do with an owner and tags — send the whole list to Jira in one click.
Both versions on one document — with the comment that prompted the change.
Slack · #gripper thread
The Problem
The robot is one system. Its R&D record isn’t.
Mechanical designs, robot models, software, test results and supplier feedback live in different tools. Each system records its own artefacts, but no single record shows why a change was made, what else it affects or what needs to happen next.
less time maintaining requirements, freeing systems engineers to focus on architecture.
lost in one failed early-stage robotics design cycle.
more test coverage in the same engineering hours, helping teams catch conflicts earlier.
the late-stage cost multiplier avoided when a requirements error is caught before integration and test.
01 · Marketplace
Rent or buy nearby hardware without waiting through long lead times.
The Osseus marketplace helps teams put spare parts, test equipment, sensors, actuators, and full assemblies back to work. Find what is available nearby, move from idea to prototype faster, and list idle inventory for another team to use.
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02 · One cited answer
Ask what a design change affects and get a cited answer.
Ask about a drawing, component or proposed revision instead of opening every design file, repo and review thread. Osseus follows the links between design history, supplier feedback, code and issues, then returns the exact evidence and owner.
Practical answers
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Supplier reviews retain the original comment alongside an automatic English translation. External intelligence is optional and policy controlled; every community signal includes its direct source and requires engineer review before it informs a design decision.
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