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OpenMANIPULATOR SCARA

Specification

Items Unit  
Actuator   Dynamixel XM430-W350-T
Input Voltage V 12
DOF - 4 (3 DOF + 1 End-Effector)
Speed(Joint) RPM 46
Reach mm (in) 276 (10.87)
Communication - TTL (Level Multidrop BUS)
Software - Dynamixel SDK, Arduino, Processing
Main Controller - PC, OpenCR

Dimension

Hardware Setup

Part Lists

  Part Name Quantity Link
Chassis Parts BASE FRAME 1 Download Link
. PEN HOLDER 1 Download Link
. FRM BASE 1 Download Link
. TAP HOLDER 1 Download Link
. FR12_H101_K 4 Shop Link
. FR12_S102_K 3 Shop Link
. HN12_I101 4 Shop Link
Actuators Dynamixel XM430-W350-T 4 Shop Link
Cables CABLE_3P_130MM 3 Shop Link
. CABLE_3P_240MM 1 Shop Link
Miscellaneous WB_M2X03 24 Shop Link
. WB_M2_5X4 14 Shop Link
. WB_M2_5X06 8 Shop Link
. WB_M2_5X12 2 Shop Link
. FHS_M2_5X14 12 Shop Link
. NUT_M2_5(0.45P) 8 Shop Link

For more information, please refer to BOM.

3D Printed Parts

Software Setup

Download the OpenCR and open_manipulator_processing libraries.

OpenCR

Go to ExamplesOpenManipulatorexampleArduinoScaraopen_manipulator_scara on Arduino IDE for OpenCR.

Processing

Open processing source code file (open_manipulator_processingScaraScara.pde) on Processing IDE.

NOTE: Upload OpenCR example source code to OpenCR before run processing source code.

Video

Specification

Items Unit  
Actuator   Dynamixel XM430-W350-T
DOF - 3
Payload With Suction g (lb) 500 (1.10)
Speed(Joint) rad/sec 4.82
Weight kg(lb) 0.55 (1.21)
Reach mm (in) 350 (13.78)
Communication - TTL (Level Multidrop BUS)
Software - Dynamixel SDK, Arduino, Processing
Main Controller - PC, OpenCR

Dimension

Hardware Setup

Part Lists

  Part Name Quantity Link
Plate Base Plate-02 1 Shop Link
Chassis Parts BASE LINK 1 Download Link
. ROTATION BASE 1 Download Link
. HOLDER A 1 Download Link
. HOLDER B 1 Download Link
. LINK 50 1 Download Link
. LINK 200 A 1 Download Link
. LINK 50 FOR 250 1 Download Link
. LINK 200 FOR 250 1 Download Link
. LINK 200 B 4 Download Link
. TRIANGLE LINK 1 Download Link
. TOOL LINK 1 Download Link
Actuators Dynamixel XM430-W350-T 3 Shop Link
Cables CABLE_3P_180MM 1 Shop Link
. CABLE_3P_240MM 2 Shop Link
Axis Parts PSCBRJ6-9 18 Shop Link
. MSRB6-1.0 36 Shop Link
. NSFMR6-42 1 Shop Link
. NSFMR6-38 1 Shop Link
. NSFMR6-28 1 Shop Link
. NSFMR6-24 5 Shop Link
. Ball Bearing
(O.D 10mm / I.D 6mm / Width 3mm)
24 Shop Link
Miscellaneous WB_M2X03 8 Shop Link
. WB_M2X04 4 Shop Link
. WB_M2X06 4 Shop Link
. WB_M2.5X04 4 Shop Link
. WB_M2.5X06 4 Shop Link
. WB_M2.5X08 4 Shop Link
. WB_M2.5X20 4 Shop Link
. NUT_M2 4 Shop Link
. NUT_M2.5 4 Shop Link
Controller OpenCR 1 Shop Link
. SMPS 12V5A 1 Shop Link
Vacuum System ARDUINO 4 RELAYS SHIELD 1 shop Link
. 12V Air Pump Motor 1 shop Link
. UD0640-20-C (Air Tube 6Ø) 1 shop Link
. UD0860-20-C (Air Tube 8Ø) 1 shop Link
. MSCNL6-1 (Coupling 6Ø) 1 shop Link
. MSCNL8-1 (Coupling 8Ø) 2 shop Link
. MVPKE8 (Suction Cup) 1 shop Link
. MHE3-M1H-3/2G-1/8 (Control Valve) 1 shop Link
. NEBV-Z4WA2L-P-E-2.5-N-LE2-S1 1 shop Link

3D Printed Parts

CAD Files (Onshape, Thingiverse)

Assembly

Assemble the OpenMANIPULATOR-X Link by referring to the manual uploaded on Instructables page.

Software Setup

NOTE: This example controller source code for OpenMANIPULATOR-X Link does not use ROS.

OpenCR

First of all, set the OpenCR board referring to [OpenCR] setup.

Open example source code ExamplesOpenManipulatorexampleLinkopen_manipulator_link on Arduino IDE for OpenCR. Upload the example source to OpenCR.

Tip: If an error of cmd_read_board_name fail: 0xF020 occurs constantly during upload, please refer to OpenCR e-manual to enter the firmware recovery mode and upload the source code again after entering mode.

Processing

Set the Processing IDE referring to Processing Setup.

Download processing source code for OpenMANIPULATOR-X Link.

$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_processing.git

Open downloaded processing source code file (Folder where you downloaded the source codeopen_manipulator_processingLinkLink.pde) on Processing IDE, and Run it.

NOTE: Upload OpenCR example source code to OpenCR before run processing source code.

When the processing source code is successfully executed, the following graphical GUI is displayed.

Tip: If the processing console displays an error message and the GUI does not run normally, check the following:

  • Check if ControlP5 is properly installed.
  • Check if the graphics driver is installed properly.
  • Check if the Java library is properly installed.

If you have checked the above and it does not work normally, I recommend running it in a different OS environment (Windows, mac, linux).

Video

OpenMANIPULATOR Planar

Specification

Items Unit  
Actuator   Dynamixel XM430-W350-T
Input Voltage V 12
DOF - 3
Speed(Joint) RPM 46
Communication - TTL (Level Multidrop BUS)
Software - Dynamixel SDK, Arduino, Processing
Main Controller - PC, OpenCR

Dimension

Hardware Setup

Part Lists

  Part Name Quantity Link
Chassis Parts BASE FRAME 1 Download Link
. laser_gripper 1 Download Link
. link_100 3 Download Link
. link_120 3 Download Link
. HN12_I101 3 Shop Link
Actuators Dynamixel XM430-W350-T 3 Shop Link
Cables CABLE_3P_240MM 3 Shop Link
Miscellaneous WB_M2_5X12 24 Shop Link
. FHS_M2_5X14 12 Shop Link
. NSFMR6-24 6 Shop Link
. Ball Bearing(O.D 10mm / I.D 6mm) 24 Shop Link

For more information, please refer to BOM.

3D Printed Parts

CAD Files (Onshape, Thingiverse)

Software Setup

Download the OpenCR and open_manipulator_processing libraries.

OpenCR

Go to ExamplesOpenManipulatorexampleArduinoPlanaropen_manipulator_planar on Arduino IDE for OpenCR.

Processing

Open processing source code file (open_manipulator_processingPlanarPlanar.pde) on Processing IDE.

NOTE: Upload OpenCR example source code to OpenCR before run processing source code.

Video

OpenMANIPULATOR Delta

Specification

Items Unit  
Actuator   Dynamixel XM430-W350-T
Input Voltage V 12
DOF - 3
Speed(Joint) RPM 46
Communication - TTL (Level Multidrop BUS)
Software - Dynamixel SDK, Arduino, Processing
Main Controller - PC, OpenCR

Dimension

Hardware Setup

Part Lists

  Part Name Quantity Link
Chassis Parts BASE FRAME 1 Download Link
. Delta_centre 1 Download Link
. Delta_gripper 1 Download Link
. link 3 Download Link
. HN12_I101 3 Shop Link
Actuators Dynamixel XM430-W350-T 3 Shop Link
Cables CABLE_3P_240MM 3 Shop Link
Miscellaneous WB_M2_5X12 24 Shop Link
. FHS_M2_5X14 12 Shop Link
. NSFMR6-24 6 Shop Link
. Rod End Bearing(D 3mm) 12 Shop Link

For more information, please refer to BOM.

3D Printed Parts

CAD Files (Onshape, Thingiverse)

Software Setup

Download the OpenCR and open_manipulator_processing libraries.

OpenCR

Go to ExamplesOpenManipulatorexampleArduinoDeltaopen_manipulator_delta on Arduino IDE for OpenCR.

Processing

Open processing source code file (open_manipulator_processingDeltaDelta.pde) on Processing IDE.

NOTE: Upload OpenCR example source code to OpenCR before run processing source code.

Video

OpenMANIPULATOR Stewart

Specification

Items Unit  
Actuator   Dynamixel XM430-W350-T
Input Voltage V 12
DOF - 6
Speed(Joint) RPM 46
Communication - TTL (Level Multidrop BUS)
Software - Dynamixel SDK, Arduino, Processing
Main Controller - PC, OpenCR

Dimension

Hardware Setup

Part Lists

  Part Name Quantity Link
Chassis Parts BASE FRAME 1 Download Link
. stewart_conv 6 Download Link
. st_link_new 6 Download Link
. PHSOM3 12 Shop Link
. SPJW6-100-M3-N3 6 Shop Link
. HN12_I101 6 Shop Link
Actuators Dynamixel XM430-W350-T 6 Shop Link
Cables CABLE_3P_130MM 6 Shop Link
Miscellaneous WB_M3X08 24 Shop Link
. NUT_M3 24 Shop Link

For more information, please refer to BOM.

3D Printed Parts

CAD Files (Onshape, Thingiverse)

Software Setup

Download the OpenCR and open_manipulator_processing libraries.

OpenCR

Go to ExamplesOpenManipulatorexampleArduinoStewartopen_manipulator_stewart on Arduino IDE for OpenCR.

Processing

Open processing source code file (open_manipulator_processingStewartStewart.pde) on Processing IDE.

NOTE: Upload OpenCR example source code to OpenCR before run processing source code.

Video

OpenMANIPULATOR Linear

Specification

Items Unit  
Actuator   Dynamixel XM430-W350-T
Input Voltage V 12
DOF - 3
Speed(Joint) RPM 46
Communication - TTL (Level Multidrop BUS)
Software - Dynamixel SDK, Arduino, Processing
Main Controller - PC, OpenCR

Dimension

Hardware Setup

Part Lists

  Part Name Quantity Link
Chassis Parts BASE FRAME 1 Download Link
. linear_x_holder 1 Download Link
. linear_z_holder 1 Download Link
. linear_griper_bt 1 Download Link
. linear_y_holder 1 Download Link
. linear_y_holder_mr 1 Download Link
. LINEAR_Y_HOLDER 1 Download Link
. linear_y_guide_holder 1 Download Link
. linear_pully_conv 1 Download Link
. linear_pully_conv_dummy 1 Download Link
. Aluminum Extrusion - 6 series, Base 30 8 Shop Link
Actuators Dynamixel XM430-W350-T 3 Shop Link
Cables CABLE_3P_240MM 1 Shop Link

For more information, please refer to BOM.

3D Printed Parts

CAD Files (Onshape, Thingiverse)

Software Setup

Download the OpenCR and open_manipulator_processing libraries.

OpenCR

Go to ExamplesOpenManipulatorexampleArduinoLinearopen_manipulator_linear on Arduino IDE for OpenCR.

Processing

Open processing source code file (open_manipulator_processingLinearLinear.pde) on Processing IDE.

NOTE: Upload OpenCR example source code to OpenCR before run processing source code.

Video