The PhantomX Hexapod MK-IV is the latest model of the six-legged TrossenRobotics platforms, which allows modifications in all aspects. The MK-IV can be supplied with or without an outer shell and, like its predecessor, is launched as an open source platform.
The Dynamixel X smart servos
With Dynamixel's smart servo motors, the MK-IV offers features that can only be found in industrial motors in this form - and at a multiple of the MK-IV price.
All actuators have individual IDs, allowing the user to easily communicate between and with the different servo motors. In addition, the Shadow ID function allows easy control of a second actuator in double servo joints.
Dynamixel actuators have the special feature of being connected in a daisy chain with the next actuator. These so-called daisy-chains make them extremely scalable and simplify maintenance of the individual units.
Servo Management Software
Dynamixe Wizard 2.0 allows the user to configure register settings such as PID gains and control modes (position, velocity, current or PWM) on their own. The software also includes tools for firmware updates, diagnostics, testing, data plotting and other configurations.
The intelligent dynamixels have multiple registers for setting velocity and acceleration limits, PID gains and more synonyms for fine-tuning smooth joint movements.
Portfolio of low-level libraries
DYNAMIXEL actuators feature libraries that abstract the serial communication layer, allowing designers to focus their time on higher-level coding.
- Gazebo simulation
- Python API
- Raspberry Pi 4B with 4g Ram
- Playstaton 4 Remote Control
- IRROS code structure
Scope of delivery
- 1 x HEXPOD MK-IV
- Lipo 4500mAh Battery
- 1x DYNAMIXEL U2D2
- 1x 12v5a power supply
- 1x USB2 micro cable
- charging cable
- Driver / Additional Hardware