The Niryo One completely rebuilt and 100% functional.
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To print all parts of the Niryo One robot took a lot of time.
The beginning of the shoulder.
Printing the forearm top.
Assembling the robot.
The drawer.
Almost finished !!!
Ready and 100% functional.
I'm still working on the vision camera but that's for the future.....
More information will appear on this page in the future !
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Standard Tesselated Geometry - 85.92 kB - 11/05/2021 at 13:54 |
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These grippers are designed by Niryo and the files are available for download on their Git page
The robot is standard equipped with various grippers that can be mounted with a handy click system.
These grippers all have a Dynamixel XL-320 servo motor that all have a pre-programmed ID number.
A handy magnetic gripper can also be fitted, which can be activated or deactivated via the software.
Which in itself is also funny how a vacuum gripper has been designed.
Not with a vacuum pump but with an injection syringe that is driven by an XL-320 servo motor.
The advantage is that it does not produce much noise, unlike a vacuum pump.
There is also a Vision Camera on it and you can do very nice things with the software.
Unfortunately I haven't spent much time on it yet to really do much with it.
But I will definitely do that in the future.
Developing the electronics was already a project in itself.
Just to be clear, I've never seen an original Niryo One and so I developed everything based on the software
First I looked at how the software works.
You have the raspberry pi software and the software for the stepper motors.
The Software that runs on the Raspberry pi with the necessary inputs and outputs...Can-Bus for the stepper motors and a Dynamixel 1 wire system bus.
Also 3 different voltages had to be created 5 volts for the raspberry pi, 7.2 volts for the XL-320 servos and 11.1 volts for the XL-430 dynamixel servos which is an huge improvement.
The stepper motors actually just run on Arduino and can also be programmed via the micro USB connection on the PCB.
It was quite a job to get everything on a 39 x39 mm pcb.
All parts are smd 0603 and covered on 2 sides
I designed everything with EasyEDA.
I've made PCBs at home myself in the past, but that was 25 years ago.
And that was with a negative and photo printing and then in a bath of copergloride.
Fortunately, times have changed and you can now easily order them online and have them delivered by post after 2 weeks.
I am not sponsored so will not mention where I ordered them.
Of course, not everything is right the first time.
A few times I made improvements to the PCB until it was fully functional and reliable to work with.
Programming the stepper motor pcb was also a puzzle.
The SamD21 chip on which the software resides and runs had to be flashed with a bootloader. This is now a simple operation of a few seconds but was a nice puzzle and there is very little information to be found on the internet.
And this is the result.
Good working Can_Bus controlled stepper motors.
More to come !!!
It's a great design. How much noise do the motors generate? I would love to use this for a camera arm.
The motors make little noise and you can also mute them with a TL-Smoother
Thanks Jeffrey. I had no idea - you can buy 4 for $10. Good tip!!
I just noticed that the steppers in the build list are not the NEMA 17 steppers that are mentioned elsewhere. The ones listed are far to week to do the job. Does the build list need an update.?
The build list is actually correct.
The base motor is a Nema17 40mm and has a Holding Torque of 40 Ncm, Detent Torque Of 2.2 Ncm Rotor Torque or 54 g-cm² Step angle 1.8 °
The Shoulder or Elbow stepper motor is a nema17 and is 60mm long.
Holding Torque of 70 Ncm Detent Torque Of 3.2 Ncm Rotor Torque of 102 g-cm² Step angle 1.8 °
If you look closely at the construction of the robot, you will see that all motors have an enormous transmission and that the shoulder has a fairly heavy torsion spring to relieve the motor.
The motors will soon be for sale via tindie.com and is either completely built or for sale as a DIY kit where you have to take care of the stepper motor yourself.
All the other parts of the robot will also be for sale soon at tindie.com
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When it comes to robot arms, mechanical is easier than electronics which is easier than programming them. The motion dynamics are always the limiting factor in these types of projects. Your hardware looks great though!
I'm still writing about the build and development of the controller and pcb`s
Is there any good reason to continue to use the CAN bus steppers?
Certainly... my whole idea of replicating the Niryo One controller is that it can be used very easily for other robot projects.
What I have tested so far, the motors work really great.... and is now suitable for Nema17 motors, but can also be developed for Nema23 motors. Now my problem is that I know more about electronics than programming.....
Jeffrey
Peter.li
hammer
Daniel James Evans
Matthias Kubisch
Very good work!
I am following this robotic arm too: https://hackaday.com/2020/10/19/pybot-is-a-3d-printed-scara-arm-for-the-masses/