norman974ParticipantJanuary 15, 2019 at 9:55 amPost count: 6
I have few questions about some technical specs and others fields:
Do you have documentation about the niryo steppers ?
Do you have any idea about the existence of kinematic diagrams of the Niryo One (Complete Unit)
As well, is it possible to do any simulation with the software niryo one studio ?
Thanks a lot
NormanEdouard RenardKeymasterJanuary 16, 2019 at 3:07 pmPost count: 239
For kinematics, we use the URDF format from ROS along with the kinematics (and motion planning) features from the ROS Moveit plugin. Here‘s the ROS code for Niryo One where you can find all those info.
For the simulation on Niryo One Studio: you can follow this tutorial (method 1), deactivate all motors, and reboot the robot. You’ll still see the robot moving in the 3D view but the real robot won’t move. Note that this is a “semi”-simulation mode, as you still need to power on the robot.
You can also (better to do that) run the simulation on your computer (see the Niryo One ROS repository), and use either your own code, or Niryo One Studio (then, you’ll need to choose “localhost” as the IP if you run the simulation and the desktop app on the same computer).norman974ParticipantMay 26, 2019 at 4:26 pmPost count: 6Edouard RenardKeymasterMay 27, 2019 at 9:41 amPost count: 239
Yes we do have an exploded view of Niryo One (video on Youtube). You can use it and take screenshots from it.
The protocols used to communicate between the Raspberry Pi board (+ shield) and the motors are:
– TTL half-duplex for Dynamixel motors. Both XL-320 and XL-430 use the same protocol – Dynamixel protocol 2.0 (driver here).mariana97ParticipantMay 31, 2019 at 8:14 amPost count: 5
Hi, I have a problem with my first connection with Niryo. I want to know if i did the correct steps to initializate for the first time becuase i have conected to the power supply and switch on Niryo and wait for more than 5 minuts buy the led still in red and didn`t change the color. I have flash a micro SD with the image of Raspberry Pi3 in the correct version and thats it. Have I transfere some program to the steppers to stablish the ID?
How can i slove it?Edouard RenardKeymasterJune 3, 2019 at 4:44 pmPost count: 239norman974ParticipantJune 6, 2019 at 5:58 pmPost count: 6
there’s something that i don’t understand as i’m not a robotic arm specialist.
This robot is a 6 axis right, it means there is one motor for each axis right? from J1 to J6.
There is 3 dynamixel et 3 niryo steppers but i don’t understand why is there 2 motors between J1 and J2, is this a matter of power ?
if so, it means there is only 5 motors for 6 axis.. no ?
i don’t get it.
Thanks for your helpEdouard RenardKeymasterJune 7, 2019 at 9:05 amPost count: 239
I guess you’ve seen an old image when we had 2 motors for axis 2. This was to increase the torque, but finally we changed back to one bigger motor.
The latest version of Niryo One has 6 motors:
– 3 Niryo Steppers for Axis 1,2 and 3
– 2 Dynamixel XL-430 for Axis 4 and 5
– 1 Dynamixel XL-320 for Axis 6
– and 1 Dynamixel XL-320 for each additional tool.norman974ParticipantJune 11, 2019 at 4:32 pmPost count: 6
Thanks for your precisions.
About the Niryo steppers,
Did u developped them ?
And probably the last question i have for you, i promise.
It’s about the transmission.
Shaft coupling and belt according to the schemes.
Axis 1,2 3 is belt and the on the others axis, torque is transmitted via shaft coupling if i’m right.
Do you have some properties of the coupling shaft?
Do you have the numbers of teeth of the different gear so i can calculate the transmission ratio ?
Thanks for your help.
NormanEdouard RenardKeymasterJune 11, 2019 at 6:07 pmPost count: 239
For NiryoSteppers we used standard NEMA 17 motors, and developed a custom PCB + firmware. The micro-controller on the PCB is the same as the one on the Arduino Zero (SAMD).
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