Tag Archives: shop

Production moteus controllers are here!

Developing the moteus brushless servo controller has been a very long journey, and while it isn’t over yet I have a reached a significant milestone.  The first batch of production moteus controllers are now available for general purchase at shop.mjbots.com and shipment worldwide for $119 USD each!

moteus_r43_front_left

I’ll repeat some of the specifications here:

  • 3 phase brushless FOC control
  • 170 MHz 32bit STM32G4 microprocessor
  • Voltage: 12-34V
  • Peak phase current: 60A
  • Dimensions: 46x53mm – CAD drawing in github
  • Mass: 14.2g
  • Communications: 5Mbps CAN-FD
  • Control rate: 40kHz
  • Open source firmware: https://github.com/mjbots/moteus

Simultaneously, I’ve got development kits available that give you everything you need to start developing software for the moteus controller out of the box: moteus r4.3 developer kit

moteus_r4_3_devkit_back_left

Many thanks for all the feedback from the beta testers who have been experimenting with the r4.2 version!

Ground truth torque testing for qdd100

First, a limited number of qdd100 servos are available for sale to beta testers!  Check them out at shop.mjbots.com.

After building up the first set of qdd100 servos, I wanted to empirically measure their performance parameters.  Some astute commenters uncovered in my terrible juggling video, that I didn’t actually have any ground truth measure of torque with these actuators.  Given that the ultimate torque is a pretty useful performance metric, it’s a good thing to have a solid understanding of.

To measure this, I built a simple test fixture (which is also the qdd100 beta development kit), consisting of two brackets.  The first lets the servo be bolted to a table, and the second mounts to the output and has set screws to hold a 1″ diameter pipe.  I used this to insert a 1 meter pipe which then can press against a digital scale.

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1m is pretty long for my workshop!

Then I created a simple C++ application which emitted torque commands in response to joystick input and reported back telemetry from the servo: qdd100_test

Using these I was able to generate a plot of actual torque vs motor phase current:

qdd100 torque vs phase current

There are a couple of interesting things here, one is that the torque constant at low phase currents is slightly lower than I had estimated based on the motor’s Kv rating.  Second, the torque constant drops off faster at higher currents than I had anticipated, and third, the motor Kv rating was lower than I had predicted.  Those things combined result in a peak torque of between 12.5 and 15Nm depending upon the servo.  That’s still enough torque to do some serious jumping, but exploring those discrepancies is now on my backlog.

Here’s a video showing how this testing (and max speed testing) was done:

fdcanusb up at shop.mjbots.com

I’ve received my first production run of the fdcanusb CAN-FD USB adapters and they are up for sale at shop.mjbots.com!

fdcanusb_angle

While this is necessary for interacting with the moteus controller, it is also a fine general purpose CAN-FD adapter.  At the moment, the USB interface is a platform independent line based serial one (Windows, Linux, MacOS).  It doesn’t yet interoperate with SocketCAN on linux, but hopefully that will be resolved in the not too distant future.

 

Lots of frameless stators and rotors

While gearing up to make some dev-kits followed by a pre-production run of the moteus servo mk2, I recently received a bunch of frameless rotors and stators.

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It’s almost taller than me!
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Some stators
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A rotor

As with the other custom items, I’ve got some spares of these for sale at shop.mjbots.com if you’re building along with me!

Now it’s time to start building some servos!

 

shop.mjbots.com

In my quest to create a more dynamic quadruped, I’ve started accumulating a lot of parts from bulk buys that could be reasonably useful to other hobbyists and experimenters.  To maybe make life easier for everyone, I’ve started up what may be the worlds ugliest online shop where you can buy some of these components.  For now, I have some bearings and custom gears that are useful when building servos for dynamic robots.

Check it out! https://shop.mjbots.com

Unfortunately US shipping only for now, email me or DM on discord to arrange something internationally.

Some samples of what I have online now:

M0.5 100 Tooth Steel Ring Gear

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55mm +0/-0.02 mm outer diameter and 5mm width, only $17 each.

M0.5 20 Tooth Sun Gear

m05_20tooth_sun_front

5mm tooth width, 4mm ID bore, 8mm OD hub, only $6

6708-2RS ABEC-1 Bearing 40x50x6mm

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50mm OD, 40mm ID, 6mm width, only $8