Braço Robotico 3D - Niryo One

Hello WilliamH,

a priori it seems feasible but it is only my presentiment.

In any case, very interesting the DinamixelShield , I did not know.

In this link, a cnc shield is used :

Hello Jeremy,
Thank you for your answer, I am happy to have made you discover the DynamixelShield. Since the comment I managed to control the motors via the cnc shield. Now I only have to move Dynamixel and code an application for all of this.


keep us informed of the progress of your project :slight_smile: .

hello everyone, I have made good progress on my Niryo project and here is what I have changed: the pitch of the motors I have changed from 1.8 degrees to 0.9 degrees to reduce vibrations as well as noise moreover as the motor drivers heat up a lot I add a fan in front of them which cools the raspberry as well as the drivers, to know when the fan activities I add a temperature sensor which automatically activates with a small program the fan to cool. To control the acceleration and deceleration of the motors I use the AccelStepper library which is perfect for this project. A small disadvantage that I had is the size of the arduino with the CNc shield and the dynamixelshield which take up a lot of space in height I put it vertically in front of the fan and cut a small opening to leave pass the DynamixelShield in height


Could we have pictures? :slight_smile:

Hello , here are the pictures of the robot have a nice day


Hello all,

I have a question about the spring.

wouldn’t there be an error on the github model ?

On this model you can see that there are 4 active coils while on the video “” you can see that there are only 3.

@WilliamH : do you see a bid difference between motor 1.8 and motor 0.9 ?

Hello Jeremie, yes I noticed a big difference the robot was more precise and also much quieter


And do you have the reference of your motors ? I’m interested :slight_smile:

Hello Jeremie these are cheap motors but really good for the price I use it’s motors because I am new to robotics and over the years I would improve the components of my robot otherwise this is the Amazon link:
Have a nice day

Hello, Jeremie!

The number of coils depends on material of the spring. If you want to order the spring, you need to note the torque for factory. The number of coils is variable.

Ok Mickey,

I can admit that it depends on the strength of the sping. But in this case I would be very curious to know how this strength was calculated on the github model.

I finally went to the construction phase. I have not yet received all the parts but I have found alternatives.

  • I printed what I was missing

  • I built the spring in a temporary wire of the right diameter (it is not spring wire and I will have to change it when I have what it takes).

Regarding the spring, I noticed that it was impossible to put it in the same way as in the video (because of the 4 coils instead of 3). And with 5 it would become downright impossible.

We used weight of arm, stepper torque, length of arm and the force of gravity to calculate the torque of spring. It is classical task for “strength of materials”.
I don’t recomend you to print screws and bearings. It isn’t expensive.


yes of course for the screws and bearings but I never received these items (everything was ordered). And rather than postponing this project again, I decided to find a temporary solution while waiting.

It allowed me to finally assemble the robot :

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Make it difficult to operate an XL-320 servo without a shield. Has anyone managed ?

Hi, @Mickey the pcb for the panel working? Can you share also the component for that? I can t find in github

Hello! I still waiting the last parts to assemble my one. But @Andriy have assembled and debug it. I made 2nd revision of it. All date on github on develop branch:

Yeah, but there isn t the bom file
This’s BOM from 2nd revision