Building Poppy at The 3D Printer Experience in Chicago (Step 1: Printing)

[Matthieu]

Yep you will have all what you need to start the robot.

Just take care to respect the convention when you build the robot:

[Assembly instructions] Take care of the Dynamixel motors configuration and assembly!

When you want to assemble a Poppy, the first thing to do is to ensure yourself you assembled correctly the horn on the Dynamixel motors. This is both the first step and maybe the more critical. An error in the configuration or assembly here is really boring to change once Poppy assembled. 1. Fix the horn on the motor ###Warning! This step is critical! Dynamixel motors are sold unassembled, you have to add manually the horn HN07-N101 (for MX-28) and HN05-N101 (for MX-64). The critical point i…

[Assembly tips] Correct alignement between Dynamixels and 3D printed parts

As you should take care of the alignement when you put the horn on the Dynamixel motor shaft (see this topic), you should pay attention when you attach the 3D printed parts on the horn. The zero position has to be correctly aligned with the part to ensure both a good range of motion and the compatibility with the pypot robot configuration. To do so, I have added a tip directly on the part. If you look around the horn fixation, you will see 3 dots. Here the example with the left thigh: [image…

[Assembly instructions] Beware of the pelvis assembly

The assembly of the pelvis part is a bit non-intuitive. Indeed to assemble the abs_y motor and the pelvis part, you have to spread it a bit (about 5 mm): [image] Also, to do it easily, you should also remove the screws holding the MX28 horn. If you begin by fixing the l_hip_x and l_hip_y motor, it will increas the rigidity of the pelvis part. You will be unable to bend it enough for passing the abs_y motor. If you insist you will probably break the part ! So first you add the double rotatio…

[Assembly instructions] Motor orientations convention

Most of the time, when you will assemble a Robotis Dynamixel with a Poppy part, you will have 2 orientation options. To be compatible with our convention and configuration, you should keep the same orientation as us when you will assemble your Poppy. This picture is not really clear, but the red arrows indicate the orientation of the motor i.e. where should be oriented the driving horn (HN07/05-N101): [image]

[Assembly Instructions] Overview of TLL bus connections

[image] [image] [image] Head In the head you will have an Usb HUB 4 ports where you will plug the 2 USB2AX. The USB2AX for the upper body bus should be plug to the head_y (AX12) motor. Then the head_y is plugged to the Bioloid 3P Extension board. The USB2AX for the lower body will be plug to the SMPS2Dynamixel located at the back of the abdomen. Upper Body For the upper body TTL Bus, the following wires are connected to the Bioloid 3P Extension Board located on the neck: l_shoulder_y r…

[Assembly instructions] Motor naming convention and configuration

To be compatible with the software we are developing to control Poppy and contribute to the project, you should strictly follow the naming convention we established. [image] motor_naming_convention.pdf (1.3 MB) Indeed, in the poppytools package, motors are named explicitly, for example: class SitPosition(pypot.primitive.Primitive): def run(self): self.robot.l_hip_y.goal_position = -35 self.robot.r_hip_y.goal_position = -35 self.robot.l_knee_y.goto_position(125, 2…