I am looking to incorporate several smart servo drives in the design of a robotic arm. I require the servo motors to accept torque input and to output the position sensor data. I have been looking into the Dynamixel MX series, such as the MX-64T Smart Serial Servo.
I have a couple of questions about the Dynamixel motors:
]What are the main differences between the Dynamixel X, AX, RX and MX series? /:m] ]What is meant by the continuous torque operation mode of the actuator? /:m] ]Do any of the Dynamixel motors offer a breaking mode (i.e. a position in which the servo motor can be locked in place without current input)? /:m] ]What are the concerns with connecting the motors in series for the control of various joints in a robotic arm? /:m] ]What kind of compatible controllers are available for the Dynamixel MX motors? /:m] ]How do the Dynamixel motors operate under side-loading?/:m]
Please let me know if you have any suggestions for other smart servo systems that you think might work for my application that are offered by Dynamixel or other brands.
]Total angle of travel / feedback/:m] ]Torque/:m] ]Maximum speed/:m]
The actuator reads the current (which is ideally proportional to torque), and adjusts the speed accordingly.
“Brake” mode - well, when you set a position, the servo will simply keep that position indefinitely, which is effectively a “brake mode”.
Be aware that the wires closest to the first servo need to handle the complete current of the system. When in doubt (if you think the load will be high), use two sets of servos on separate lines.
Most designs really should use the rear idler horn so all of the weight is not transferred to the output shaft of the motor. Most higher end Dynamixel servos have metal gearing and a metal output spline which can handle the torque, but the screw holding the horn in place can be ripped apart with a bad design.
Feel free to post a basic design sketch / CAD if you can.
Hi, Thank you for your reply.
It turns out that the shield compatible controller you suggested is not compatible with Dynamixel MX (since you are not able to read position feedback from the servo). Can you suggest any other controllers that would be compatible with the Dynamixel MX smart servos?
Unfortunately Robotics does not seem to offer the electronics, and there are no third party manufacturers developing compatible electronics. This is quite unfortunate, especially when people want to design their own robots. As such, you would need to create a custom interface. Sorry for any inconvenience.
