Niryo Modificações

Se estas a tentar fazer o Robot Niryo de forma diferente então aqui podes ir colocando todas as tuas inovações :slight_smile:

Gravador de Bootloader no SAM21

How to make Springs

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Alteração do parafuso de shaft do wrist M6 x 50 para um com cabeça sestavada e redesenhar o coupler para ser impresso em plástico.

No meu caso vou usar ServoMotor Futaba de radiomodelismo. Mas acredito q funcionará para os DFynaXL.
Assim que for possivel coloco o STL disponivel.

Gostava de perceber melhor o qé o XCVR .
Poderia comprar uma placa

por 3.43€ mas preferia desenhar uma placa nova para o AS5600 já c esta coisa metida lá! Como n tenho experiencia c isto talvez seja complexo demais.

Suponho que seja o MCP2551 e há aqui alguma info sobre o assunto

Mas porque CAM se há ESP32wifi :slight_smile:

Rotor antebraço alterei os rolamentos c o que tinha e fiz um adaptador para servomotor futaba.
O parafuso passou a ter cabeça pq até é melhor para prender ao eixo. No meu caso é um rolamento normal deste lado c umas anilhas o q fica mais alto. Mas tenho o modelo em Fusion c dois objectos para poderem alterar para os xl320.


mete fotos :slight_smile:

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Hello! I have ordered torsion spring at local factory:


It cost for me 8$ per spring and I have 4 unused. If somebody need it, I can send.


Also, I have designed Stepper PCB. I have made some mistakes in first revision. So I ordered the second revision today.

There are the Altium project and output files:

You can upload Arduino bootloader via Raspberry pi:

I think I will get ready board in January. Summury it will be about 12$ per device, if you will solder it yourself.


thanks a lot for the awesome sharing :slight_smile:
I have Pick and place and I can made the boards.
You sale the PCB or the SPRING?

I just have extra springs, because it was minimum size of the order. And I think that somebody needs in it. It will be greate, if you compensate the prime cost of the spring (I can show you invoice). I will not have extra PCB. If you want, I can organize the production of any parts, but it will be extra job for me, and I will ask some payment for this service. All prices, that I wrote, is prime cost without any profit.

I try to select common parts, that you can buy at Aliexpress. I have ordered PCB at They can also assembled this PCB. Maybe it possible, to share the order information of this PCB on this site.

Also, when I test the stepper PCB, I will make Raspberry shild and PCB with socets. Of course all files will be open source.


Great job Mickey,
I’m wondering the board… the AS6600 magnetic rotation encoder it’s not at the center?

The spring looks like just have 3 rotations ( number of coils )

may depend on the material and thinkness.

Can you please tell us more info about the spring so we can try to find it @ Portugal?


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U3 - AS5600. Niryo use this encoder (
I with my friend calculate the spring, and main parametrs are work torque, angels, left hand, thinkness of wire and sizes. We calculate work torque from weghts of all parts and stepper torque. We gave technical task to factory to make 3-5 coils. They have made this number.

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Hello Andre… I am like you planning to build the Niryo. I am based in USA. Would be great if you could also put some English when possible ! If not I’ll learn Portuguese :-). Abrigado !

Hello JDM I am building one now :slight_smile:

I know. I watched your YouTube video… Thank you for doing this. :smile: how do you plan to get over the stepper board ?

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Yes, you already start the building ?

Just starting now to get all the parts ordered… where did you find the Half Thurst Bearing 90×120x6 mm ? This is what I found…,searchweb201602_6,searchweb201603_53

Ignore my stepper question. I saw Mickey’s PCB board…