DYNAMIXEL

DYNAMIXEL (DXL) is a line of high performance networked actuators for robots developed by Korean manufacturer ROBOTIS.[1] ROBOTIS is also the developer and manufacturer for OLLO, Bioloid and DARwIn-OP. DXL is being used by numerous companies, universities, and hobbyist due to its versatile expansion capability, powerful feedback functions, position, speed, internal temperature, input voltage, etc... and its simply daisy-chain topology for simplified wiring connections. The RoboPlus software is available free to the public for use with the DXLs, and can be found on the ROBOTIS Download Page [2]

DXL can be used for multi-joint robot systems such as robotic arms, robotic hand, bi-pedal robot,[3] hexapod robot, snake robot,[4] scorpions, pan tilts, kinematic art,[5] animatronics and automation, etc...

  • The Bioloid which was made around the AX-12A has been used by the US Navy for their Mechanical engineering courses[6] and the US Air Force as well.
  • The DARwIn-OP was made around the MX-28 and is supported by $1.2 million NSF grant [7][8] and has been distributed to over 14 institutions already.[7][8]

Drivers for the DXL has been released by ROS.[9]

Specifications

DynamixelStall Torque (Nm)Position Sensor (Resolution)Network I/FMotorGear Ratio (Material)
XL-3200.39 at 7.4VPotentiometer 300/1024TTLCored Motor1:238(enpla)
XM430-W2103.0 at 12VContactless Absolute Encoder 12/360TTL/RS485Coreless Motor212.6:1 (metal)
XM430-W3504.1 at 12VContactless Absolute Encoder 12/360TTL/RS485Coreless Motor353.5:1 (metal)
XH430-W2102.5 at 12VContactless Absolute Encoder 12/360TTL/RS485Maxon Motor212.6:1 (metal)
XH430-W3503.4 at 12VContactless Absolute Encoder 12/360TTL/RS485Maxon Motor353.5:1 (metal)
AX-12W0.2 at 12VPotentiometer 300/1024TTLCored Motor1:32(enpla)
MX-12W0.2 at 12VContactless Absolute Encoder 360/4096TTLCored Motor1:254(enpla)
AX-12A1.5 at 12VPotentiometer 300/1024TTLCored Motor1:254(enpla)
AX-18A1.8 at 12VPotentiometer 300/1024TTLCoreless Motor1:254(enpla + metal)
MX-28T/R2.5 at 12VContactless Absolute Encoder 360/4096TTL/RS485Maxon Motor1:193(metal)
MX-28AT/AR2.5 at 12VContactless Absolute Encoder 360/4096TTL/RS485Maxon Motor1:193(metal)
RX-24F2.6 at 12VPotentiometer 300/1024RS485Coreless Motor1:193(metal)
RX-283.7 at 18.5VPotentiometer 300/1024RS485Maxon Motor1:193(metal)
MX-64T/R6 at 12VContactless Absolute Encoder 360/4096TTL/RS485Maxon Motor1:200(metal)
MX-64AT/AR6 at 12VContactless Absolute Encoder 360/4096TTL/RS485Maxon Motor1:200(metal)
RX-645.3 at 18.5VPotentiometer 300/1024RS485Maxon Motor1:200(metal)
MX-106T/R8.4 at 12VContactless Absolute Encoder 360/4096TTL/RS485Maxon Motor1:225(metal)
EX-106+ (Discontinued)10.9 at 18.5VMagnetic Encoder 251/4096RS485Maxon Motor1:184(metal)
  • MX64/MX-106 have current based torque control and PID control gain features.

Dynamixel Pro

Dynamixel ProOutputWeightDimension (mm)
H54-200-S500-R200W855g54x54x126
H54-100-S500-R100W732g54x54x108
H42-20-S300-R20W340g42x42x84
M54-60-S250-R60W853g54x54x126
M54-40-S250-R40W710g54x54x108
M42-10-S260-R10W269g42x42x72
L54-50-S290-R50W662g4x54x108
L54-30-S400-R30W612g4x54x108
L42-10-S300-R10W257g42x42x72

Applications

YearCountryRobot Name/ProjectCreator
2015INDIANINO [10]Sirena Technologies
2016USASophia [11]Hanson Robotics
2016USARobot Hand [12]University of Washington
2016USANICO [13]MOGI
2015USACMM worm[14]CWRU Biorobotics Lab
2014USARUBI-6 [15]University of California
2014KoreaRobot-Machine Interface for Full-functionality Automation [16]KAIST
2014IranSharif-Exo [17]Sharif University
2013FrancePoppy [18]INRIA

Robot Competitions

See also

References

  1. ↑ ::: Robotis :::
  2. ↑ :::ROBOTIS::: - RoboPlus v1.0.25.2 (Dec. 26, 2011) - ENG Version
  3. ↑ http://flowers.inria.fr/AcrobanPressRelease.pdf
  4. ↑ NTU bime - snake robot project - YouTube
  5. ↑ Younseal Eum - Home
  6. ↑ US Navy Academy to Acquire 50 Robotis Bioloid Humanoid Robot Kits from KumoTek
  7. 1 2 "Me And My Robot Page 2 of 2". Forbes.com. 2011-05-23. Retrieved 2011-12-27.
  8. 1 2 Author Name:  Dennis Hong (2011-05-12). "Robotis DARwIn-OP Raises The Bar | Robot Magazine - The latest hobby, science and consumer robotics, artificial intelligence". Find.botmag.com. Archived from the original on 2012-01-01. Retrieved 2011-12-27.
  9. ↑ Drivers for dynamixel motors released - ROS robotics news
  10. ↑ https://sirenatech.com/nino-7/
  11. ↑ http://www.seeker.com/meet-the-most-incredible-robots-of-2016-2157651550.html
  12. ↑ https://singularityhub.com/2016/02/18/this-remarkable-robot-hand-is-worthy-of-luke-skywalker/
  13. ↑ http://www.mogi.io/
  14. ↑ https://vimeo.com/131880460
  15. ↑ http://rubi.ucsd.edu/GERMS/
  16. ↑ http://spectrum.ieee.org/automaton/robotics/humanoids/tiny-humanoid-robot-learning-to-fly-real-airplanes/
  17. ↑ https://www.facebook.com/pishrobot.ir/photos/?tab=album&album_id=1154978164564434
  18. ↑ https://techcrunch.com/2013/10/18/today-in-dystopian-war-robots-that-will-harvest-us-for-our-organs-3/
  19. ↑ Guillermo Cornejo L. - Grupo Fidalex. "RoboCup Mexico 2012". Robocup2012.org. Retrieved 2011-12-27.
  20. ↑ FIRA (2011-11-22). "FIRA News - [NOTICE] Special offer for FIRA teams". Fira.net. Retrieved 2011-12-27.
  21. ↑ http://robogames.net/index.php
  22. ↑ http://mech-warfare.com/
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