用于博物馆展览的带触觉反馈的电动杠杆编码器Dynamixel
I want to use a Dynamixel as a compliant sensor with dynamic stops, variable resistance, and the ability to self reset.
Sort of light motorized faders on a high-end digital mixer, but more robust. for a public museum installation.
I wonder if the units will survive rapid and constant back driving, what mode to use, what unit to use, and if this is a good idea.
Thoughts?
我想使用Dynamixel作为一个兼容的传感器与动态停止，可变电阻，并能够自我重置。
一种轻型电动推子在高端数字调音台，但更强大。公共博物馆的装置。
我想知道，我想知道这些装置是否能在快速持续的复位中幸存下来，使用什么模式，使用什么装置，这是否是个好主意。
有什么想法吗？
You mentioned a couple of different questions in your post, so I’m going to separate them out and answer them one by one for the sake of readability:
你在帖子中提到了几个不同的问题，为了便于阅读，我将把它们分开逐一回答：
- Backdrivability: The big concerns with backdriving are the potential of generating high feedback voltages and the loads on the gears from sudden direction changes. I’d recommend going with a larger servo with a lower gear ratio to minimize the voltage generation, and metal gears should stand up well enough to the loads from hand-driven backdriving.
反向驱动能力：反向驱动的主要问题是产生高反馈电压的可能性以及突然方向变化对齿轮的负载。我建议使用更大的伺服系统，齿轮比更低，以最大限度地减少电压的产生，金属齿轮应该能够很好地承受手动反向驱动的负载。
- This really depends on the specifics of your project, but my first instinct without much more information would be either position based current mode, or PWM mode depending on if positional accuracy is important.
这确实取决于您项目的具体情况，但我的第一直觉是，如果没有更多信息，要么是基于位置的电流模式，要么是PWM模式，这取决于位置精度是否重要。
- I’d reccomend the XM430-W210 off the top of my head, as 330 size servos are much more likely to be damaged by backdrive overvoltage.
我会从头开始重新考虑XM430-W210，因为330尺寸的伺服系统更容易被反向驱动过电压损坏。
- It’s not really the primary use case for the DYNAMXIEL servos, but it’s a good use of the feedback and compliance capabilities. I think the biggest hurdle is going to be figuring out how to get a natural-ish feel out of the knobs.
这并不是DYNAMXIEL伺服系统的主要用例，但它很好地利用了反馈和顺应性功能。我认为最大的障碍将是弄清楚如何从旋钮中获得自然的感觉。
Thanks @Jonathon !
That’s super helpful!
I wonder about safety with a motor that strong if there’s a code issue or a bug.
3NM may be enough to pinch someone badly.
Would smaller motors work if the power supply were set up to eat up voltage spikes? Maybe a capacitor bank or some kind of shunt?
谢谢乔纳森！
真是太有帮助了！
我怀疑这么强劲的马达是否安全，如果有代码问题或错误。
3NM可能足以严重夹伤一个人。
如果将电源设置为消耗电压尖峰，那么小型电动机还能工作吗？也许是电容器组或者分流器？
You can always limit the maximum output force by setting a conservative PWM Limit, to avoid injury.
The overvoltages are generated in the motors themselves during backdriving and can directly damage the unit’s PCB, so while setting up circuit protection between the servos can be helpful, it won’t completely eliminate the risk of damage.
An alternative solution would just be to use XL330 sized servos anyways, especially if you can keep the speed of the backdriving down. They will likely have reduced lifespans, but at $25 each they won’t be too costly to just replace if they are damaged…
您可以通过设置保守的PWM限制来限制最大输出力，以避免受伤。
过电压是在反向驱动过程中电机本身产生的，可能会直接损坏单元的PCB，因此，虽然在伺服系统之间设置电路保护可能会有所帮助，但并不能完全消除损坏的风险。
一个替代的解决方案就是使用XL330大小的伺服系统，特别是如果你能降低反向驱动的速度。它们的寿命可能会缩短，但每只25美元，如果它们损坏了，更换成本不会太高…
Are there examples in Arduino if using a Dynamixel as an encoder, for example, in learn/playback/puppeteeering applications?
That would help me write the torque off section of the code.
Arduino中是否有使用Dynamixel作为编码器的例子，例如，在学习/播放/木偶表演应用程序中？
这将有助于我写出代码的扭矩部分。
This tutorial goes over explaining how to combine a rotary encoder to puppeteer a DYNAMIXEL.
本教程将介绍如何组合旋转编码器来操纵DYNAMIXEL。
It’s more or less the inverse of what you’re looking to do, but I think it’s the closest match that could provide some place to start off in writing your code.
这或多或少与您想要做的相反，但我认为这是最接近的匹配，可以为编写代码提供一些起点。
XL330舵机的测试效果不错啊！
购买链接：ROBOTIS 数字舵机XL330-M288-T DYNAMIXEL 机器人关节电机 机械臂 XL330-M288-T【图片 价格 品牌 报价】-京东 (jd.com)
XL330-M288-T Dynamixel X系列ROBOTIS舵机 机器人关节 迷你舵机-淘宝网 (taobao.com)
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