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

Dimensions

1019D x 1066H x 1225W mm

Leader Arms

WidowX 250 S - Aloha Version

Follower Arms

ViperX 300 S - Aloha Version

Camera

2x Intel RealSense D405

Chassis

Modular

Computer

Coming Soon

USB Hubs

Yes 1X

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 connectorUSB 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