DYNAMIXEL: History
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DYNAMIXEL (DXL) is a line of high performance networked actuators for robots developed by South Korea n manufacturer ROBOTIS. 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 DXL can be used for multi-joint robot systems such as robotic arms, robotic hand, bi-pedal robot, hexapod robot, snake robot, scorpions, pan tilts, kinematic art, animatronics and automation, etc... Drivers for the DXL has been released by ROS.

  • dynamixel
  • multi-joint robot
  • roboplus

1. Specifications

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)
  • MX-64 / MX-106 have current based torque control and PID control gain features.
  • MX-28 / MX-64 / MX-106 can be upgraded to MX-28(2.0) / MX-64(2.0) / MX-106(2.0) using firmware recovery from DYNAMIXEL Wizard 2.0 or R+Manager 2.0. By upgrading to Protocol 2.0 firmware, the Control Table will be updated similar to that of X series.

2. DYNAMIXEL X

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)
2 XL430-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

3. DYNAMIXEL Pro / Pro(A)

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

4. DYNAMIXEL Pro Plus

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

5. Applications

Year Country Robot Name/Project Creator
2015 INDIA NINO [1] Sirena Technologies
2016 USA Sophia [2] Hanson Robotics
2016 USA Robot Hand [3] University of Washington
2016 USA NICO [4] MOGI
2015 USA CMM worm[5] CWRU Biorobotics Lab
2014 USA RUBI-6 [6] University of California
2014 Korea Robot-Machine Interface for Full-functionality Automation [7] KAIST
2014 Iran Sharif-Exo [8] Sharif University
2013 France Poppy [9] INRIA

6. Robot Competitions

  • RoboCup [10]
  • FIRA [11]
  • RoboGames [12]
  • Mech Warfare [13]
  • Robo One

The content is sourced from: https://handwiki.org/wiki/Engineering:DYNAMIXEL

References

  1. https://sirenatech.com/nino-7/
  2. http://www.seeker.com/meet-the-most-incredible-robots-of-2016-2157651550.html
  3. https://singularityhub.com/2016/02/18/this-remarkable-robot-hand-is-worthy-of-luke-skywalker/
  4. http://www.mogi.io/
  5. https://vimeo.com/131880460
  6. http://rubi.ucsd.edu/GERMS/
  7. http://spectrum.ieee.org/automaton/robotics/humanoids/tiny-humanoid-robot-learning-to-fly-real-airplanes/
  8. https://www.facebook.com/pishrobot.ir/photos/?tab=album&album_id=1154978164564434
  9. https://techcrunch.com/2013/10/18/today-in-dystopian-war-robots-that-will-harvest-us-for-our-organs-3/
  10. Guillermo Cornejo L. - Grupo Fidalex. "RoboCup Mexico 2012". Robocup2012.org. http://www.robocup2012.org/. Retrieved 2011-12-27. 
  11. FIRA (2011-11-22). "FIRA News - [NOTICE] Special offer for FIRA teams". Fira.net. http://fira.net/?document_srl=3776#0. Retrieved 2011-12-27. 
  12. http://robogames.net/index.php
  13. http://mech-warfare.com/
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