Trossen Robotics Dynamixel Guide
Robotis Dynamixel Actuators are the top-tier actuator choice in the industry for researchers and universities.
Overview
Dynamixel actuators have been used by every major university, research lab, military and government research lab, and robotic competition worldwide. Each Smart Actuator has an onboard microprocessor to facilitate bus communication, positional feedback, temperature and load monitoring. The casing of each servo is built specifically with robotics in mind, providing easy to use mounting rails and a comprehensive bracket system available for building robotic limbs. TTL and RS-485 serial communication allows for daisy-chainable bus connections at up to 1-3mbps. In addition, the Dynamixel's onboard MCU has a set of user customizable features, allowing users to tune the servos in specifically for their application.
- Dedicated onboard MCU
- Adjustable torque, speed, and response
- Position, load, voltage, temperature feedback
- Daisy-chainable Serial Communication
- Wide range of sizes, strengths, and communication options
- Modular mounting design with comprehensive brackets and frames
- 3D models, dimensional drawings, full documentation available
Dynamixel AX Series
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Model | AX-12A | AX-12W | AX-18A |
Stall Torque @ Max Voltage | 1.5N.m / 16.5 kg-cm | 0.2N.m / 2.0 kg-cm | 1.8N.m / 18 kg-cm |
Speed (RPM) | 59 | 470 (at 12V, wheel mode) 54 (at 12 V, joint mode) |
97 |
Operating Voltage | 9 ~ 12V (Rec. Voltage 11.1V) | 9 ~ 12V (Rec. Voltage 11.1V) | 9 ~ 12V (Rec. Voltage 11.1V) |
Stall Current Draw | 1.5A | 1.4A | 2.2A |
Dimensions | 32mm x 50mm x 40mm | 32mm x 50mm x 40mm | 32mm x 50mm x 40mm |
Weight | 54.6g | 52.9g | 55.9g |
Resolution | 0.29° | 0.29° | 0.29° |
Operating Angle | 300 | 300 | 300 |
Gear Reduction | 254 : 1 | 32 : 1 | 254 : 1 |
Geartrain Material | Eng. Plastic | Eng. Plastic | Eng. Plastic |
Onboard CPU | ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) | ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) | ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) |
Position Sensor | Potentiometer | Potentiometer | Potentiometer |
Com Protocol | TTL | TTL | TTL |
Com Speed | 1mbps | 1mbps | 1mbps |
Compliance/PID | Compliance | Compliance | Compliance |
Dimensional Drawings |
Dynamixel RX Series
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Model | RX-24F | RX-28 | RX-64 |
Stall Torque @ Max Voltage | 2.6N.m / 26.5 kg-cm | 3.7N.m / 37.7 kg-cm | 5.3N.m / 54 kg-cm |
Speed (RPM) | 126 | 470 (at 12V, wheel mode) 54 (at 12 V, joint mode) |
64 |
Operating Voltage | 9 ~ 12V (Rec. Voltage 11.1V) | 12V~18.5V (Rec. Voltage 14.8V) | 12 ~ 18.5V (Rec. Voltage 14.8V) |
Stall Current Draw | 2.4A | 1.9A | 2.6A |
Dimensions | 35.6mm x 50.6mm x 35.5mm | 35.6mm x 50.6mm x 35.5mm | 40.2mm x 61.1mm x 41mm |
Weight | 67g | 72g | 125g |
Resolution | 0.29° | 0.29° | 0.29° |
Operating Angle | 300 | 300 | 300 |
Gear Reduction | 193 : 1 | 193 : 1 | 200 : 1 |
Geartrain Material | Hardened Steel | Hardened Steel | Hardened Steel |
Onboard CPU | ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) | ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) | ATMega8 (ATMEGA8-16AU@16MHZ, 8 Bit) |
Position Sensor | Potentiometer | Potentiometer | Potentiometer |
Com Protocol | RS-485 | RS-485 | RS-485 |
Com Speed | 1mbps | 1mbps | 1mbps |
Compliance/PID | Compliance | Compliance | Compliance |
Dimensional Drawings |
Dynamixel MX Series
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Model | MX-28T / MX-28R | MX-64T / MX-64R | MX-106T / MX-106R |
Stall Torque @ Max Voltage | 3.1N.m (31.6 kg-cm) | 7.3N.m / 74.4 kg-cm | 10.0N.m / 101 kg-cm |
Speed (RPM) | 97 | 78 | 55 |
Operating Voltage | 10 ~ 14.8V (Rec. Voltage 12V) | 10 ~ 14.8V (Rec. Voltage 12V) | 10 ~ 14.8V (Recommended Voltage 12V) |
Stall Current Draw | 1.7A | 5.2A | 6.3A |
Dimensions | 35.6mm x 50.6mm x 35.5mm | 40.2mm x 61.1mm x 41mm | 40.2mm x 65.1mm x 46mm |
Weight | 72g | 126g | 153g |
Resolution | 0.088° | 0.088° | 0.088° |
Operating Angle | 360 | 360 | 360 |
Gear Reduction | 193 : 1 | 200 : 1 | 225 : 1 |
Geartrain Material | Hardened Steel | Hardened Steel | Hardened Steel |
Onboard CPU | Cortex M3 (STM32F103C8@72MHZ, 32 Bit) | Cortex M3 (STM32F103C8@72MHZ, 32 Bit) | Cortex M3 (STM32F103C8@72MHZ, 32 Bit) |
Position Sensor | Magnetic Encoder | Magnetic Encoder | Magnetic Encoder |
Com Protocol | TTL / RS-485 | TTL / RS-485 | TTL / RS-485 |
Com Speed | 3mbps | 3mbps | 3mbps |
Compliance/PID | PID | PID | PID |
Dimensional Drawings |