Assembly guide for the Ergo Jr

Ergo-tool

The Poppy Ergo Jr robot is a small and low cost 6-degree-of-freedom robot arm. It consists of very simple shapes which can be easily 3D printed. They are assembled via OLLO rivets which can be removed and added very quickly with the OLLO tool.

Its end effector can be easily changed. You can choose among several tools:

  • a lampshade,
  • a gripper,
  • or a pen holder.

Thanks to the rivets, they can be very quickly and easily swapped. This allows the adaptation of the tooltip to the different applications you plan for your robot.

XL-320 engines have the same functionalities as other Poppy creatures but are slightly less powerful and less precise. The advantage being that they are also less expensive.

The electronic card is visible next to the robot, which is very advantageous to understand, manipulate, and plug extra sensors. No soldering is needed, you just need to add the shield for XL-320 motors on top of the Raspberry Pi pins.

This chapter will guide you through all steps required to entirely assemble a Poppy Ergo Jr. It will cover:

The entire assembly should take about one or two hours for the first time you build one. With more practice, half an hour should be more than enough.

At the end of the process, you should have a working Poppy Ergo Jr, ready to move!

We recommend you to follow carefully the instructions. Even if the Ergo Jr can be easily disassembled, it is always disappointing to need to start again a part of the assembly because you forget to configure the motors, or a motor is reversed.

Bill of materials

Here you will find the complete list of material (BOM) needed to build a Poppy Ergo Jr.

Poppy's material

Robotis parts

  • 6x Robotis dynamixel motors XL-320
  • 1x set of OLLO rivets (about 70 colored and 4 grey)
  • 1x OLLO TOOL

Screw

  • 4x M2.5x6mm screw (for fixing the Raspberry Pi on the base)
  • 4x M2x5mm screw (for fixing the camera)
  • 4x M2 nuts (fixing camera)
  • 1x Standoff Male/Female M2.5 10mm

Various electronics

  • 1x Raspberry Pi 2 or 3
  • 1x micro SD 8Go (or larger)
  • 1x Raspberry Pi camera
  • 1x AC power 7.5V 2A with a 2.1 x 5.5 x 9.5 jack connector (this one for instance).
  • Short ethernet cable

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