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Introduction

ROS-enabled OpenManipulator is a full open robot platform consisting of OpenSoftware​, OpenHardware and OpenCR(Embedded board)​.

OpenSoftware

OpenManipulator are based on ROS ​and OpenSource. ROS official hardware platform ,TurtleBot series has been supporting ‘TurtleBot Arm’. The OpenManipulator has full hardware compatibility with TurtleBot3​, and allows users to control it more easily by linking with the MoveIT! package. Even if you do not have a real robot, you can control the robot in the Gazebo simulator​.

OpenHardware

The OpenManipulator is oriented towards Open Hardware​. Most of the components except for some frames are uploaded as STL files that can be 3d printing. This allows users to modify the length of the link and the design of the robot to suit the intended use. The open manipulator also uses the Dynamixel X ​series used in TurtleBot 3. Dynamixel has a modular form and adopts daisy chain method. This allows users to easily change and add joints for some torque and degree of freedom they need. Taking advantage of these advantages, we are planning a total of seven different types (For example, Chain, SCARA, Link, Planar, Delta, Stewart and Linear) of OpenManipulator.

OpenCR (Embedded board)

The OpenManipulator can also be controlled via OpenCR (Open-source Control module for ROS), the control board of TurtleBot3. OpenCR’s computing power and real-time control are used to support forward, inverse kinematics, and profile control examples. In addition, OpenCR can interoperate with many functions provided by ROS through message communication with ROS, which will evolve into ROS 2.0 in the future.

Examples

OpenManipulator is composed by Dynamixel X series and 3D printing parts. Dynamixel has a modular form and adopts daisy chain method. This allows users to easily change and add joints for some torque and degree of freedom they need. Moreover, growing 3D printing technology makes anyone can make anything they want with low cost and rapid time. We suggest some examples of links and safety parts. Taking advantage of these advantages, we are planning a total of seven different types of OpenManipulator.

ROSCon 2017 Vancouver Day 1: Introducing OpenManipulator; the full open robot platform from OSRF on Vimeo.

OpenManipulator Chain

Specification of Chain

  Unit Chain with XM430-W350
Input Voltage V 12
DOF - 5 (4 DOF + 1 DOF Gripper)
Payload g 1000 ~ 1300 (2.20 ~ 2.86)
Speed(Joint) rad/sec 4.82
Weight kg(lb) 0.7 (1.54)
Reach mm (in) 380 (14.9)
Rated Voltage VDC 12
Communication - RS-485 (Multi Drop Bus)
Power(Joint) W 27.6
Software - ROS, Dynamixel SDK, Arduino, Processing
Main Controller - Laptop PC, OpenCR

Hardware Setup of Chain

Parts of OpenManipulator

DIY Manual

CAD Files

Software Setup of Chain

ROS

$ sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-robotis-math ros-kinetic-industrial-core 
$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
$ cd ~/catkin_ws && catkin_make 

Gazebo(3D)

Platform

 $ roslaunch open_manipulator_dynamixel_ctrl dynamixel_controller.launch

TurtleBot3 Waffle with OpenManipulator Chain

OpenCR

Image of OpenManipulator Chain

OpenManipulator SCARA

Specification Of SCARA

  Unit Chain with XM430-W350
Input Voltage V 12
DOF - 4 (3 DOF + 1 End-Effector)
Speed(Joint) rad/sec 4.82
Weight kg(lb) 0.52 (1.14)
Reach mm (in) 234 (9.21)
Rated Voltage VDC 12
Communication - RS-485 (Multi Drop Bus)
Power(Joint) W 27.6
Software - ROS, Dynamixel SDK, Arduino, Processing
Main Controller - Laptop PC, OpenCR

Hardware Setup of SCARA

Parts of OpenManipulator

CAD Files

Software Setup of SCARA

OpenCR

Image of OpenManipulator SCARA

OpenManipulator Link

  Unit Chain with XM430-W350
Input Voltage V 12
DOF - 3
Payload With Suction g (lb) 400 ~ 450 (0.88 ~ 0.99)
Speed(Joint) rad/sec 4.82
Weight kg(lb) 0.53 (1.16)
Reach mm (in) 330 (12.99)
Rated Voltage VDC 12
Communication - RS-485 (Multi Drop Bus)
Power(Joint) W 27.6
Software - ROS, Dynamixel SDK, Arduino, Processing
Main Controller - Laptop PC, OpenCR

Parts of OpenManipulator

CAD Files

OpenCR

OpenManipulator Planar

Be released in 2018

OpenManipulator Delta

Be released in 2018

OpenManipulator Stewart

Be released in 2018

OpenManipulator Linear

Be released in 2018