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  • norman974
    Participant
    Post count: 6

    Hey there,

    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

    Norman

    • This topic was modified 10 months, 3 weeks ago by  norman974.
    • This topic was modified 10 months, 3 weeks ago by  norman974.
    Edouard Renard
    Keymaster
    Post count: 239

    Hi Norman,

    For the Niryo Steppers, you can find here on github an electronics overview (folder “electronics”) and the type or motors used (folder “BOM”). The firmware is available here.

    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).

    norman974
    Participant
    Post count: 6

    Edouard,

    By any chance, do you have an exploded view of niryo ?
    Furthermore, by what protocol the motors communicate with the card ?

    Thanks a lot
    Norman

    • This reply was modified 5 months, 2 weeks ago by  norman974.
    Edouard Renard
    Keymaster
    Post count: 239

    Hey Norman,

    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:

    – CAN bus for NiryoStepper motors (firmware here, and Raspberry Pi driver here)

    – TTL half-duplex for Dynamixel motors. Both XL-320 and XL-430 use the same protocol – Dynamixel protocol 2.0 (driver here).

    mariana97
    Participant
    Post 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 Renard
    Keymaster
    Post count: 239

    Hi,

    Could you contact our technical support ? Don’t forget to include the number of your order!

    norman974
    Participant
    Post count: 6

    Hi again,

    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 help

    Edouard Renard
    Keymaster
    Post 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.

    norman974
    Participant
    Post 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.

    So there’s
    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.

    Norman

    • This reply was modified 5 months, 4 weeks ago by  norman974.
    • This reply was modified 5 months, 4 weeks ago by  norman974.
    Edouard Renard
    Keymaster
    Post 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).

    The firmware is open source (link) but the PCB is not, we only give you a global overview of the hardware functionalities (link).

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