Edit on GitHub

오픈매니퓰레이터-X

오픈매니퓰레이터-X는 현재 영문으로만 지원되고 있습니다. 영문 e매뉴얼의 오픈매니퓰레이터-X를 이용하시기 바랍니다.

Specification

Items Unit OpenMANIPULATOR-X
Actuator   Dynamixel XM430-W350-T
Input Voltage V 12
DOF - 5 (4 DOF + 1 DOF Gripper)
Payload g 500
Repeatability mm < 0.2
Speed(Joint) RPM 46
Weight kg (lb) 0.70 (1.54)
Reach mm (in) 380 (14.9)
Gripper Stroke mm (in) 20~75 (0.79~2.95)
Communication - TTL Level Multidrop BUS
Software - ROS, Dynamixel SDK, Arduino, Processing
Main Controller - PC, OpenCR

OpenMANIPULATOR-PRO

OpenMANIPULATOR-PRO는 현재 영문으로만 지원되고 있습니다. 영문 e매뉴얼의 OpenMANIPULATOR-PRO를 이용하시기 바랍니다.

Specification

Item OpenMANIPULATOR-PRO RM-P60-RNH
DOF 6
Payload 3 kg
Reach 645 mm
Repeatability ±0.05 mm
Weight 5 kg
Operating voltage 24 V
Resolution Joint 1 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 2 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 3 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 4 : -π(rad) ~ π(rad) , -501,923 ~ 501,923 (pulse)
Joint 5 : -π(rad) ~ π(rad) , -303,750 ~ 303,750 (pulse)
Joint 6 : -π(rad) ~ π(rad) , -303,750 ~ 303,750 (pulse)
Dynamixel Pro
Model Name
Joint 1, 2 : H54P-200-S500-R (200W)
Joint 3, 4 : H54P-100-S500-R(100W)
Joint 5, 6 : H42P-020-S300-R (20W)
Operating Range Joint 1 : -π(rad) ~ π(rad)
Joint 2 : -π/2(rad) ~ π/2(rad)
Joint 3 : -π/2(rad) ~ 3π/4(rad)
Joint 4 : -π(rad) ~ π(rad)
Joint 5 : -π/2(rad) ~ π/2(rad)
Joint 6 : -π(rad) ~ π(rad)
Default ID Joint 1 (ID:1), Joint 2 (ID:2), Joint 3 (ID:3),
Joint 4 (ID:4), Joint 5 (ID:5), Joint 6 (ID:6)
Motor type Brushless DC Servo(H54P Series),
Coreless DC Motor(H42P Series)
Position sensor type Absolute Encoder(for Homing),
Incremental Encoder(for Control)
Communications RS485
Communication Baudrate 1000000 bps