Introduction: OpenManipulator Link

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About: ROBOTIS is a Global Service Robot Solutions Provider and a leading developer of smart servos (DYNAMIXEL), industrial actuators, manipulators, open-source humanoid platforms and educational robot kits/tech toys…

Robot manipulators have been developed to many kinds of structure. OpenManipulator has most simple serial linkage structure, but the other structure can be useful to particular tasks, so we provide manipulators had various structure as OpenManipulator Friends. OpenManipulator Link has parallel linkage structure be useful to palletizing tasks. Its structure may be comparatively complicate, but it is very effective in simple pick and place task and for increase manipulator payload. Now let us show you how to make it step by step.

This page will explain about hardware setup of OpenManipulator Link.

Step 1: Check the Part List

Part List
  • Plate
    • Base Plate-02 : 1
  • Actuators
    • Dynamixel XM430-W350-T : 3

  • Chassis Parts (3D printing)

    • BASE LINK : 1
    • Rotation base : 1
    • Holder a : 1
    • Holder b : 1
    • Link 50 : 1
    • Link 200a : 1
    • Link 50 for 250 : 1
    • Link 200 for 250 : 1
    • Link 200 b : 4
    • Triangle link : 1
    • Tool link : 1

  • Cables

    • Cable_3P_180MM : 1
    • Cable_3P_240MM : 2

  • Axis parts

    • PSCBRJ6-9 : 18
    • MSRB6-1.0 : 36
    • NSFMR6-42 : 1
    • NSFMR6-38 : 1
    • NSFMR6-28 : 1
    • NSFMR6-24 : 5
    • Ball Bearing (O.D 10mm / I.D 6mm / Width 3mm) : 24

  • Miscellaneous

    • WB_M2X03 : 8
    • WB_M2X04 : 4
    • WB_M2X06 : 4
    • WB_M2.5X04 : 8
    • WB_M2.5X06 : 8
    • WB_M2.5X08 : 4
    • WB_M2.5X20 : 2
    • NUT_M2 : 4
    • NUT_M2.5 : 4

  • Controller

    • OpenCR : 1
    • SMPS 12V5A : 1
  • PC (windows, linux, mac) 1

Set three Dynamixel’s IDs to 1, 2, 3 by using R+ Manager.

Step 2: Printing the 3D Printing Parts

Step 3: Install a Base Link to the Dynamixel (ID 1) Horn by Four Bolts (WB_M2X04) While Paying Attention to the Align Marking Position on the Dynamixel Horn, and Remove Two Bolts That Was Installed on the Dynamixel.

Step 4: Install a Base Link to a Base Plate by 4 Bolts (WB_M2.5X08) and Nuts (NUT_M2.5), While Paying Attention to the Align Marking Position of the Dynamixel Horn.

Step 5: Push a Rotation Base Part Into the Parts That Assembled in Step 4, and Fasten the Dynamixel (ID 1) and the Rotation Base Part With 4 Bolts (WB_M2.5X06).

Step 6: Install a Link 200 a to the Dynamixel (ID 2) by 4 Bolts (WB_M2X03) While Paying Attention the Align Marking Position on the Dynamixel Horn.

Step 7: Install a Link 50 to the Dynamixel (ID 3) by 4 Bolts (WB_M2X03) While Paying Attention the Align Marking Position on the Dynamixel Horn.

Step 8: Install a Holder B to the Rotation Base Part by 4 Bolts (WB_M2.5X06), and Two Parts That Assembled in Step 6 and 7 to the Rotation Base Part by 8 Bolts (WB_M2.5X04).

Step 9: While Paying Attention the Sorted Order and the Shaft Collars Directions, Assemble a Rotation Axis for a Holder a and a Link 200 B With a Shaft (NSFMR6-38), Shaft Collars (PSCBRJ6-9), Bearings and Spacers (MSRB6-1.0).

Once the shaft collars positioned, tighten its bolts.

Step 10: Complete the Rotation Axis Assembled in Step 9 With the Holder B and Additional Axis Parts (a Shaft Collar (PSCBRJ6-9), a Bearing and Spacers (MSRB6-1.0)), and Install the Holder a to the Dynamixel (ID 1) by Two Bolts (WB_M2.5X20).

Once the shaft collars positioned, tighten its bolts.

Step 11: Assemble Next Rotation Axis With the Link 50, New Link 200 B and Axis Parts (a Shaft (NSFMR6-24), Shaft Collars (PSCBRJ6-9), Bearings and Spacers (MSRB6-1.0)) While Paying Attention the Sorted Order and the Shaft Collars Directions.

Step 12: Assemble a Rotation Axis With the Link 200 B Installed in Step 10 and a Triangle Link and Axis Parts (a Shaft (NSFMR6-24), Shaft Collars (PSCBRJ6-9), Bearings and Spacers (MSRB6-1.0)).

Step 13: Assemble a Link 250 With a Link 200 for 250 and a Link 50 for 250 by Four Bolts (WB_M2X06) and Nuts (NUT_M2).

Step 14: Assemble a Rotation Axis With the Link 200 B Installed in Step 11 and the Link 250 and Axis Parts While Paying Attention the Sorted Order and the Shaft Collars Directions.

Step 15: Assemble a Rotation Axis With the Link 250, New Link 200 B, the Triangle Link, the Link 200 a and Axis Parts While Paying Attention the Sorted Order and the Shaft Collars Directions.

Step 16: Assemble Link 200 B at Triangle Link Assemble Next Rotation Axis With the Triangle Link and New Link 200 B.

Step 17: Install a Tool Link by Assemble a Rotation Axis With the Link 200 B Installed in Step 16 and the Tool Link, and Assemble Another Rotation Axis With the Link 250, the Link 200 B Installed in Step 15 and the Tool Link.

Step 18: Connect the Cable (Cable_3P_240MM) of the OpenManipulator Link, a Power (SMPS 12V5A) and a Usb Cable to the OpenCR, and Connect the Usb Cable to Your PC.

Step 19: Set Up the Vacuum Gripper

Follow the Vacuum gripper set up using OpenCR guide page.

Step 20: Set Up the OpenManipulator Link Software to the OpenCR and Run It.

upload the source code to OpenCR and run it, refer to the Robotis OpenManipulator e-manual page.