DYNAMIXEL

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DYNAMIXEL (DXL) is a line of high performance networked actuators for robots developed by Korean manufacturer ROBOTIS.[1] ROBOTIS is also the developer and manufacturer for TurtleBot3, 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)
AX-12W 0.2 at 12V Potentiometer 300/1024 TTL Cored Motor 1:32(enpla)
MX-12W 2.0 at 12V Contactless Absolute Encoder 360/4096 TTL Cored Motor 1:254(enpla)
AX-12A 1.5 at 12V Potentiometer 300/1024 TTL Cored Motor 1:254(enpla)
AX-18A 1.8 at 12V Potentiometer 300/1024 TTL Coreless Motor 1:254(enpla + metal)
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 (Discontinued) 2.6 at 12V Potentiometer 300/1024 RS485 Coreless Motor 1:193(metal)
RX-28 (Discontinued) 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 (Discontinued) 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)

DYNAMIXEL X[edit]

DYNAMIXEL X series Stall Torque (Nm) Weight Dimension (mm) Network I/F Motor Input Voltage

(Recommended)

XL-320 0.39 at 7.4V 16.7g 24 x 36 x 27 TTL N/A 6 ~ 8.4V (7.4V)
XL430-W250-T 1.4 at 11.1V 57.22g 28.5 x 46.5 x 34 TTL Cored 6.5 ~ 12V (11.1V)
2XL430-W250-T 1.4 at 11.1V 98.2g 36 x 46.5 x 36 TTL Cored 6.5 ~ 12V (11.1V)
XC430-W150-T 1.6 at 12V 65g 28.5 x 46.5 x 34 TTL Coreless 6.5 ~ 14.8V (12V)
XC430-W240-T 1.9 at 12V 65g 28.5 x 46.5 x 34 TTL Coreless 6.5 ~ 14.8V (12V)
XM430-W210 3.0 at 12V 82g 28.5 x 46.5 x 34 TTL/RS485 Coreless 10 ~ 14.8V (12V)
XM430-W350 4.1 at 12V 82g 28.5 x 46.5 x 34 TTL/RS485 Coreless 10 ~ 14.8V (12V)
XM540-W150 7.3 at 12V 165g 33.5 x 58.5 x 44 TTL/RS485 Coreless 10 ~ 14.8V (12V)
XM540-W270 10.6 at 12V 165g 33.5 x 58.5 x 44 TTL/RS485 Coreless 10 ~ 14.8V (12V)
XH430-V210 2.6 at 24V 82g 28.5 x 46.5 x 34 TTL/RS485 Maxon 24V
XH430-V350 3.3 at 24V 82g 28.5 x 46.5 x 34 TTL/RS485 Maxon 24V
XH430-W210 2.5 at 12V 82g 28.5 x 46.5 x 34 TTL/RS485 Maxon 10 ~ 14.8V (12V)
XH430-W350 3.4 at 12V 82g 28.5 x 46.5 x 34 TTL/RS485 Maxon 10 ~ 14.8V (12V)
XH540-W150 7.1 at 12V 165g 33.5 x 58.5 x 44 TTL/RS485 Maxon 10 ~ 14.8V (12V)
XH540-W270 9.9 at 12V 165g 33.5 x 58.5 x 44 TTL/RS485 Maxon 10 ~ 14.8V (12V)
XH540-V150 6.4 at 12V 165g 33.5 x 58.5 x 44 RS485 Maxon 24V
XH540-V270 9.2 at 12V 165g 33.5 x 58.5 x 44 RS485 Maxon 24V

DYNAMIXEL Pro / Pro(A)[edit]

Dynamixel Pro can be upgraded to Pro(A) using firmware recovery from DYNAMIXEL Wizard 2.0 or R+Manager 2.0.

There are no hardware difference between Pro and Pro(A) series.

DYNAMIXEL Pro / Pro(A) Output Weight Dimension (mm)
H54-200-S500-R (Discontinued) 200W 855g 54 x 54 x 126
H54-100-S500-R (Discontinued) 100W 732g 54 x 54 x 108
H42-20-S300-R (Discontinued) 20W 340g 42 x 42 x 84
M54-60-S250-R (Discontinued) 60W 853g 54 x 54 x 126
M54-40-S250-R (Discontinued) 40W 710g 54 x 54 x 108
M42-10-S260-R (Discontinued) 10W 269g 42 x 42 x 72
L54-50-S290-R (Discontinued) 50W 662g 4 x 54 x 108
L54-30-S400-R (Discontinued) 30W 612g 4 x 54 x 108
L42-10-S300-R (Discontinued) 10W 257g 42 x 42 x 72

DYNAMIXEL Pro Plus[edit]

DYNAMIXEL Pro Plus series is an upgraded version of its predecessor in hardware and software wise. Pro Plus provides several operating modes along with highly precise control based on maximum 1 million resolution encoder. The hardware changes also increased its efficiency such as power consumption and temperature control. Oil / dust seal is applied at the output shaft(Horn) for more reliable operation on various environments.

DYNAMIXEL Pro Plus Continuous

Torque / Speed / Current

Weight Dimension (mm) Network I/F Motor Input Voltage
H54P-200-S500-R 44.7Nm / 29.0RPM / 9.3A 855g 54 x 126 x 54 RS485 Maxon BLDC 24V
H54P-100-S500-R 25.3Nm / 29.2RPM / 5.5A 740g 54 x 108 x 54 RS485 Maxon BLDC 24V
H42P-020-S300-R 5.1Nm / 29.2RPM / 1.5A 340g 42 x 84 x 42 RS485 Maxon Coreless 24V
M54P-060-S250-R 10.1Nm / 28.3RPM / 3.0A 855g 54 x 126 x 54 RS485 BLDC 24V
M54P-040-S250-R 3.9Nm / 24.2RPM / 1.9A 710g 54 x 108 x 54 RS485 BLDC 24V
M42P-010-S260-R 1.7Nm / 26.0RPM / 0.6A 270g 42 x 72 x 42 RS485 Coreless 24V

Applications[edit]

Year Country Robot Name/Project Creator
2015 INDIA NINO [10] Sirena Technologies
2016 USA Sophia [11] Hanson Robotics
2016 USA Robot Hand [12] University of Washington
2016 USA NICO [13] MOGI
2015 USA CMM worm[14] CWRU Biorobotics Lab
2014 USA RUBI-6 [15] University of California
2014 Korea Robot-Machine Interface for Full-functionality Automation [16] KAIST
2014 Iran Sharif-Exo [17] Sharif University
2013 France Poppy [18] INRIA

Robot Competitions[edit]

See also[edit]

References[edit]

  1. ^ ::: Robotis :::
  2. ^ :::ROBOTIS::: - RoboPlus v1.0.25.2 (Dec. 26, 2011) - ENG Version
  3. ^ http://flowers.inria.fr/AcrobanPressRelease.pdf
  4. ^ NTU bime - snake robot project - YouTube
  5. ^ "Younseal Eum - Home". Archived from the original on 2012-04-26. Retrieved 2019-07-14.
  6. ^ US Navy Academy to Acquire 50 Robotis Bioloid Humanoid Robot Kits from KumoTek
  7. ^ a b "Me And My Robot Page 2 of 2". Forbes.com. 2011-05-23. Retrieved 2011-12-27.
  8. ^ a b Author Name:  Dennis Hong (2011-05-12). "Robotis DARwIn-OP Raises The Bar | Robot Magazine - The latest hobby, science and consumer robotics, artificial intelligence". Find.botmag.com. Archived from the original on 2012-01-01. Retrieved 2011-12-27.
  9. ^ Drivers for dynamixel motors released - ROS robotics news
  10. ^ https://sirenatech.com/nino-7/
  11. ^ http://www.seeker.com/meet-the-most-incredible-robots-of-2016-2157651550.html
  12. ^ https://singularityhub.com/2016/02/18/this-remarkable-robot-hand-is-worthy-of-luke-skywalker/
  13. ^ http://www.mogi.io/
  14. ^ https://vimeo.com/131880460
  15. ^ http://rubi.ucsd.edu/GERMS/
  16. ^ http://spectrum.ieee.org/automaton/robotics/humanoids/tiny-humanoid-robot-learning-to-fly-real-airplanes/
  17. ^ https://www.facebook.com/pishrobot.ir/photos/?tab=album&album_id=1154978164564434
  18. ^ https://techcrunch.com/2013/10/18/today-in-dystopian-war-robots-that-will-harvest-us-for-our-organs-3/
  19. ^ Guillermo Cornejo L. - Grupo Fidalex. "RoboCup Mexico 2012". Robocup2012.org. Retrieved 2011-12-27.
  20. ^ FIRA (2011-11-22). "FIRA News - [NOTICE] Special offer for FIRA teams". Fira.net. Retrieved 2011-12-27.
  21. ^ http://robogames.net/index.php
  22. ^ http://mech-warfare.com/

External links[edit]