Dummy-Robot: Super compact smart robotic-arm

---

Video : I made a DUMMY ROBOTIC ARM from scratch - YouTube

22-2-9

• 3D
• LEDPCB
• PCB
• Peaksubmodule
• REF
• DummyStudio
• Dummy
• 42
• 20
• 42/20
• reftoolodrivetool

Dummy

1. 3DCNC
4. PCAPP
5. 4p+CAN
6. 2000

7. ---

+Harmonic600``+3D

PC3D2000

peng-zhihui/CycloidAcuratorNano

4

• REF
• REF
• Peak

Peak https://github.com/unlir/XDrive STM32MOSFETADC+CAN

PCB204257CAN****

1. C++11C
2. MCU
3. CANUART
4. EEPROM
6. STM32-HALSTM32CubeMX
7. UserApp

Ctrl-Step1CANUserApp``interface_can.cpp``interface_uart.cpp

• 1**/**
• 1
• 2
• 2

home****PIDCANID****

GRBLgrblCNCstep/dir

CANCAN````````

PeakSubModulesREADME

**REF**



* BSPOLEDIMULED
* 3rdPartyU8G2Fibre/
* CoreSTHAL
* DriverARMCMSIS
* MidwaresFreeRTOS
* Robot
* UserAppAPI

> * OLEDArduinoU8G2STM32I2CBUGI2CI2C

`DummyRobot`Dummy******DH**

![](5.Docs/1.Images/fw1.jpg)

CANID********

DH

![](5.Docs/1.Images/fw2.jpg)

PieperDummyDH

> 
>
> **30```+`12360/30**

**Peak**

PeakX-TrackPeak

## 

RoboDKDummyDriverdocumentTCPdummyUnity3D

RoboDK

## 

DH8**6config**

MoveJ66JointSpeed5&6

CANIDID0ID0ID

****

## 

DummyUSBCAN

|                       |       |            |  |  |                                                      |
| --------------------- | ----------------- | ---------------------- | -------------- | ---------- | ------------------------------------------------------------ |
| SEQ       | <5Hz  | FIFO       |              |          | 0**** |
| INT       |     |      |              |          | **** |
| `ToDo`TRJ | 200Hz |  |              |          | **3D** |

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> ****
>
> * [unlir/XDrive: Stepper motor with multi-function interface and closed loop function.  (github.com)](https://github.com/unlir/XDrive)
> * [odriverobotics/ODrive: High performance motor control (github.com)](https://github.com/odriverobotics/ODrive)
> * [olikraus/u8g2: U8glib library for monochrome displays, version 2 (github.com)](https://github.com/olikraus/u8g2)
> * [samuelsadok/fibre: Abstraction layer for painlessly building object oriented distributed systems that just work (github.com)](https://github.com/samuelsadok/fibre)