Etat de l'art Bras robot low-cost

Modèles commerciaux fermés

Niryo Ned 2

• 6DOF + Pince

https://niryo.com/fr/produit/bras-robotise-6-axes/ 

https://github.com/NiryoRobotics 

DAGU Six-servo Robot Arm

• 5DOF Manipulateur + 1DOF Pince
• 6 servos
  • 3x 13 kg.cm torque metal gear, 40.4 * 19.8 * 36 mm, 48g, 0.22s/60°
  • 1x 3.2 kg.cm, 39.5 x20.0x35.5mm, 41g, 0.27s/60°
  • 2x 2.3 kg.cm, 28 x14x29.8mm, 18g, 0.13/60°
• Carte de contrôle AREXX Intelligence Centre

https://seafile.unistra.fr/d/693101e6046d4819a3af/ 

https://arexx.com/product/robot-arm/ 

www.arexx.com.cn 

Modèles Open Source

https://github.com/AntoBrandi/Robotics-and-ROS-2-Learn-by-Doing-Manipulators 

Trossen Robotics ALOHA

Stationary

https://docs.trossenrobotics.com/trossen_arm/main/specifications.html 

https://docs.trossenrobotics.com/aloha_docs/2.0/specifications.html#aloha-stationary 

https://docs.trossenrobotics.com/aloha_docs/2.0/operation/stationary.html 

Solo

https://docs.trossenrobotics.com/aloha_docs/2.0/specifications.html#aloha-solo

https://docs.trossenrobotics.com/aloha_docs/2.0/operation/solo.html 

 Trossen Robotics (Interbotix) X-Series Arms

https://docs.trossenrobotics.com/interbotix_xsarms_docs/specifications.html 

ALOHA WidowX-250 6DOF

ALOHA ViperX-300 6DOF

Waveshare RoArm

• 5DOF + pince Waveshare
• https://github.com/waveshareteam/roarm_ws
• https://www.waveshare.com/product/roarm-m3.htm?sku=30444

ROBOTIS OMX

Follower:

• 5DOF + pince
• https://ai.robotis.com/omx/introduction_omx.html 

Leader: 

ROBOTIS Open Manipulator-P

• 5DOF + pince
• Modbus-RTU
• https://emanual.robotis.com/docs/en/platform/openmanipulator_p/overview/

ROBOTIS Open Manipulator-X

https://emanual.robotis.com/docs/en/platform/openmanipulator_x/specification/#specification 

• 4 DOF Manipulateur + 1 DOF Pince
• 6x Dynamixel XM430-W350 https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/ 
• Carte de contrôle Robotis OpenCR1.0 https://emanual.robotis.com/docs/en/parts/controller/opencr10/ 
  

SO-ARM100

https://github.com/TheRobotStudio/SO-ARM100 

• 5 DOF Manipulateur + 1 DOF Pince
• 6 servos Feetech STS3215 https://www.feetechrc.com/en/2020-05-13_56655.html 
  
• Waveshare Serial Bus Servo Driver Board https://www.waveshare.com/wiki/Bus_Servo_Adapter_(A) 
• OU
• Feetech FE-URT-1 https://www.feetechrc.com/FE-URT1-C001.html 

https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md 

https://medium.com/@sarohapranav/my-experiences-and-tips-for-creating-a-robotic-so100-arm-3df779a4aae7 

https://github.com/JafarAbdi/ros2_so_arm100 

pince compatible SO-ARM

• Waveshare https://www.waveshare.com/gripper-a.htm?sku=30386

Poppy Ergo JR

6DOF mais architecture semble optimisée pour faible le coût, qui n'a plus trop de sens avec le coût des servos Feetech. Une architecture 5DOF ou "typique industrielle" de type épaule poignet semble plus intéressante.

https://www.poppy-education.org/robots/poppy-ergo-jr/ 

Cartes de contrôle

OpenCR1.0

https://emanual.robotis.com/docs/en/parts/controller/opencr10/ 

• STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS)
  Reference Manual, Datasheet
• Programmer : ARM Cortex 10pin JTAG/SWD connector
  USB Device Firmware Upgrade (DFU)
  Serial
• Digital I/O
  
  • 32 pins (L 14, R 18) *Arduino connectivity
  • 5Pin OLLO x 4 
  • GPIO x 18 pins 
  • PWM x 6
  • I2C x 1
  • SPI x 1
• Communication Ports
  • USB x 1 (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG)
  • TTL x 3 (B3B-EH-A / DYNAMIXEL)
  • RS485 x 3 (B4B-EH-A / DYNAMIXEL) 
  • UART x 2 (20010WS-04)
  • CAN x 1 (20010WS-04)

Waveshare Serial Bus Servo Driver Board

 https://www.waveshare.com/wiki/Bus_Servo_Adapter_(A) 

• Supports connecting to a host or MCU 
• up to 253 ST/SC series serial bus servos
• RS485
• UART pour contrôle depuis Arduino, ESP32, STM32 (RX-RX, TX-TX)
• USB pour contrôle via Raspberry, Jetson ou PC
• 9~12.6V voltage input (the input voltage and the servo voltage must be matched)

Feetech FE-URT-1 

https://www.feetechrc.com/FE-URT1-C001.html 

AREXX Intelligence Centre

https://seafile.unistra.fr/d/693101e6046d4819a3af/ 

• atmega168 MCU
• RS232
• default baud rate is 115.2k
• Wifi wireless control reserve the ISP downloaded, you can download the MCU controller program using the STK500 ISP cable

• dual - Power Supply
  • 6 ~ 12 V SCM power
  • 4.8 ~ 6 V, 1.2A servo motor power [servo motor power supply Road 1-16 respectively, a 17-32 road supply port])

Servomoteurs

Dynamixel XM430-W350

https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/ 

• 4.1 [N.m] (at 12.0 [V], 2.3 [A])
• 46 [rev/min] (at 12.0 [V])
• 10.0 ~ 14.8 [V]
• Operating Modes
  • Current Control Mode
  • Velocity Control Mode
  • Position Control Mode (0 ~ 360 [°])
  • Extended Position Control Mode (Multi-turn)
  • Current-based Position Control Mode
  • PWM Control Mode (Voltage Control Mode)
• baud rate 9,600 [bps] ~ 4.5 [Mbps]
• TTL Half Duplex Asynchronous Serial Communication with 8bit, 1stop, No Parity
• RS485 Asynchronous Serial Communication with 8bit, 1stop, No Parity

Feetech STS3215

https://www.feetechrc.com/en/2020-05-13_56655.html