Pilotage des servomoteurs : TTL, RS232, RS485
https://esp32io.com/tutorials/esp32-rs485
Modèles Open Source
Open Manipulator-X
- 5 DOF + Pince
- 6x 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
Carte de contrôle OpenCR1.0 :
- 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)
DAGU Six-servo Robot Arm
- 5DOF + 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
- 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])
https://seafile.unistra.fr/d/693101e6046d4819a3af/
https://arexx.com/product/robot-arm/
SO-ARM100
- 5DOF + Pince
- Waveshare Serial Bus Servo Driver Board
- 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)
https://www.waveshare.com/wiki/Bus_Servo_Adapter_(A)
https://github.com/huggingface/lerobot/blob/main/examples/10_use_so100.md
Cartes de contrôle
https://emanual.robotis.com/docs/en/parts/controller/opencr10/
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