Building the Open source Niryo One robot

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 !!!