Hans modular servomotor

The Han's Robot Modular Joints are industrial 2 DoF electrical motors that include precised encoders and an electro-mechanical breaking system for safety purposes. The Modular Joints natively speak ROS 2.0 and interoperate seamlessly with other ROS 2.0 based robot parts, regardless of their original manufacturer. Moreover, they provide time synchronization capabilities and offer deterministic communications enabled by TSN standards.

The Han's Robot Modular Joints are available in a variety of different torque and size combinations, going from 2.8 kg to 17 kg weight and from 9.4 Nm to 156 Nm rated torque.

The H-ROS System on Module (SoM) is a tiny device for building industrial grade plug & play robot modules. All the Hans Robot Modular Joints have an H-ROS SoM inside, running ROS 2.0 natively, and providing security, interoperability, real-time and extensibility capabilities, among others.

	T9.4	T30	T49	T85	T156
rated torque	9.4Nm	30Nm	49Nm	85Nm	156Nm
peak torque	34Nm	69Nm	104Nm	200Nm	420Nm
max rotation speed	90º/s	90º/s	90º/s	90º/s	90º/s
weight	2.8kg	3.8kg	5.8kg	9.6kg	17kg
rotation angle	±360º	±360º	±360º	±360º	±360º
repeatability	20arcsec	20arcsec	20arcsec	20arcsec	20arcsec
communication	Gigabit Ethernet	Gigabit Ethernet	Gigabit Ethernet	Gigabit Ethernet	Gigabit Ethernet
supply voltage	DC 48V	DC 48V	DC 48V	DC 48V	DC 48V
main material	aluminum allow	aluminum allow	aluminum allow	aluminum allow	aluminum allow
working temperature	0-50ºC	0-50ºC	0-50ºC	0-50ºC	0-50ºC

Install

Install ROS 2.0

Install ROS 2.0 following the official instructions: source debian packages.

Create mara ROS 2.0 workspace

Create a ROS workspace, for example:

mkdir -p ~/ros2_mara_ws/src
cd ~/ros2_mara_ws
sudo apt install -y python3-vcstool python3-numpy
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/master/mara-ros2.repos
vcs import src < mara-ros2.repos

Generate HRIM dependencies:

pip3 install lxml
cd ~/ros2_mara_ws/src/HRIM
python3 hrim.py generate models/actuator/servo/servo.xml
python3 hrim.py generate models/actuator/gripper/gripper.xml

Compile

Optional note: If you want to use MoveIT! you need to source ROS 1.0 environment variables. Typically, if you have installed ROS Kinetic, you need to source the following file:

source /opt/ros/kinetic/setup.bash

Right now you can compile the code:

source /opt/ros/crystal/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install

Launch

T9.4 ( HANS series 14 )

ros2 launch hans_modular_gazebo hans_t9_4.launch.py

T30 ( HANS series 17 )

ros2 launch hans_modular_gazebo hans_t30.launch.py

T49 ( HANS series 20 )

ros2 launch hans_modular_gazebo hans_t49.launch.py