DYNAMIXEL

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DYNAMIXEL (DXL) is a line-up high performance networked actuators for robots developed by a 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[edit]

Dynamixel Stall Torque (Nm) Position Sensor (Resolution) Network I/F Motor Gear Ratio (Material)
XL-320 0.39 at 7.4V Potentiometer 300/1024 TTL Cored Motor 1:238(empla)
AX-12W 0.2 at 12V Potentiometer 300/1024 TTL Cored Motor 1:32(empla)
MX-12W 0.2 at 12V Contactless Absolute Encoder 360/4096 TTL cored Motor 1:254(empla)
AX-12A 1.5 at 12V Potentiometer 300/1024 TTL Cored Motor 1:254(empla)
AX-18A 1.8 at 12V Potentiometer 300/1024 TTL Coreless Motor 1:254(empla)
MX-28T/R 2.5 at 12V Contactless Absolute Encoder 360/4096 TTL/RS485 Maxon Motor 1:193(metal)
MX-28AT/AR 2.5 at 12V Contactless Absolute Encoder 360/4096 TTL/RS485 Maxon Motor 1:193(metal)
RX-24F 2.6 at 12V Potentiometer 300/1024 RS485 Coreless Motor 1:193(metal)
RX-28 3.7 at 18.5V Potentiometer 300/1024 RS485 Maxon Motor 1:193(metal)
MX-64T/R 6 at 12V Contactless Absolute Encoder 360/4096 TTL/RS485 Maxon Motor 1:200(metal)
MX-64AT/AR 6 at 12V Contactless Absolute Encoder 360/4096 TTL/RS485 Maxon Motor 1:200(metal)
RX-64 5.3 at 18.5V Potentiometer 300/1024 RS485 Maxon Motor 1:200(metal)
MX-106T/R 8.4 at 12V Contactless Absolute Encoder 360/4096 TTL/RS485 Maxon Motor 1:225(metal)
EX-106+ (Discontinued) 10.9 at 18.5V Magnetic Encoder 251/4096 RS485 Maxon Motor 1:184(metal)
  • MX64/MX-106 have current based torque control and PID control gain features.

Dynamixel Pro[edit]

Dynamixel Pro Output Weight Dimension (mm)
H54-200-S500-R 200W 855g 54x54x126
H54-100-S500-R 100W 732g 54x54x108
H42-20-S300-R 20W 340g 42x42x84
M54-60-S250-R 60W 853g 54x54x126
M54-40-S250-R 40W 710g 54x54x108
M42-10-S260-R 10W 269g 42x42x72
L54-50-S290-R 50W 662g 4x54x108
L54-30-S400-R 30W 612g 4x54x108
L42-10-S300-R 10W 257g 42x42x72

Robot Competitions[edit]

See also[edit]

References[edit]

External links[edit]