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New Project: Wiring and Attaching an Arm to Your TurtleBot

This tutorial takes you step by step through wiring and attaching an arm for your TurtleBot.

New Project: Wiring and Attaching an Arm to Your TurtleBot

The TurtleBot mobile robot is designed for both academic and hobbyist researchers. The open-source hardware design provides excellent documentation for adding modifications and extending the capabilities of the robot in hardware or software. The robot is available for purchase as a kit or, if your research budget is limited, this guide will help you extend your TurtleBot by adding an arm.

Steps

Step #1: Attaching the ArbotiX Board

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New Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBot
  • Attach the project box for the ArbotiX board to the top of the TurtleBot. Anywhere on the top plate will do.
  • Then place the Arbotix board inside with the FTDI breakout board and power cable attached.

Step #2: Wiring the TurtleBot Arm

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New Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBot
  • Use Bioloid 180mm 3-pin connectors to daisy-chain the servos together.
  • Start with the gripper joint, and connect each successive joint to the previous one.
  • Finally, attach an extra connector to the base joint. This will attach to the Arbotix board.

Step #3: Attach the TurtleBot Arm to Your TurtleBot

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New Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBot
  • Attach the arm base standoffs to the 4 holes highlighted in the picture using 4 6-32 x 3/4" screws on the bottom of the standoffs.
  • Make sure that the rounded protruding edge of the base is facing forward: that is, so that the arm gets the most reach over the edge of the robot.
  • Finally, attach the loose Dynamixel cable to the Arbotix.

Step #4: Power the Arbotix Board.

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New Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBotNew Project: Wiring and Attaching an Arm to Your TurtleBot
  • Disassemble the decks of the TurtleBot to have access to the iRobot Create and TurtleBot Power Board.
  • Attach the power cable made in the TurtleBot Power Board cable tutorial to the TurtleBot Power Board in the base.
  • Attach the other side of the power cable to the screw terminals on the Arbotix.
  • Green is ground, and white is power in the images. We suggest you use a better coloring scheme in your build.

Step #5: Play with Your New Arm!

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New Project: Wiring and Attaching an Arm to Your TurtleBot

Follow the tutorials on http://www.ros.org/wiki/turtlebot_arm to set up the software.

Conclusion

Now that you have wired and attached an arm to your TurtleBot visit the turtlebot_arm stack for setup instructions. http://www.ros.org/wiki/turtlebot_arm/Tu...


  • Vikram Sunder

    I do not believe these instructions are entirely relevant in that the powerboard+ displayed here was never produced. If these instructions could be changed to reflect the existing hardware available for a turtlebot 1. Thank you

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