ROBOTIS products have an excellent reputation. Many universities, engineering schools and R&D centres the world over have already adopted robots such as the TurtleBot3 Burger and the TurtleBot3 Waffle Pi .
As a brand, ROBOTIS is not in the habit of resting on its laurels. The Korean firm frequently likes to add new products to its various ranges (Dynamixel, Bioloid, TurtleBot3) and to improve on existing products.
In this article, we take a look at the latest upgrade to the TurtleBot3 Burger and Waffle, with the move from Raspberry Pi 3 to Raspberry Pi 4 .
From Pi3 to Pi4: what does this mean for me?
The TurtleBot3 Burger and TurtleBot3 Waffle Pi are both robots chosen commonly by teachers in higher education to familiarise their students with ROS middleware.
There are lots of resources freely available online, including at The Construct .
Both versions of the TurtleBot3 (TB3) robot are equipped with the Raspberry Pi 3 B+. And they can now be ordered with the Raspberry Pi 4B (2 GB or 4 GB version).
Raspberry Pi 3B+ and Raspberry Pi 4B board comparison
| Raspberry Pi 3 B+ | Raspberry Pi 4 | |
| Type of memory | LPDDR2 SDRAM | LPDDR4-2400 SDRAM |
| RAM | 1 GB | 1 GB / 2 GB / 4 GB |
| Processor | Broadcom BCM2837B0 Quad core Cortex-A53 @ 1.4 GHz | Broadcom BCM2711 Quad core Cortex-A72 @ 1.5 GHz |
| GPU | VideoCore IV @ 250-400MHz | VideoCore VI @ 500Mhz |
| Supply | micro USB | USB-C |
| USB 3.0 | 0 | 2 |
| USB 2.0 | 4 | 2 |
| Video connection | 1x HDMI | 2x micro HDMI |
| WLAN / WiFi | 802.11n | 802.11ac |
| Ethernet | 300 Mbps | Gigabit / 1000 Mbps |
| Bluetooth | 4.1 | 5.0 |
| Jack / AUX | Yes | Yes |
| Dimensions | 86 x 56 x 21 mm | 86 x 56 x 21 mm |
The result: a more powerful robot for handling more complex applications
These new versions of the TB3 mobile robots are more powerful in all respects:
➢ A more powerful microcontroller, for handling more sensors , actuators and data transfers
➢ Faster microcontroller with better data transfer through USB 3.0 ports
➢ Better storage capacity , allowing larger programs to be embedded and more data to be collected, for more complex applications with more powerful peripherals
Turtlebot 4: a fully assembled robot with ROS2
TurtleBot 4 is the newest addition to the Clearpath Robotics range, an open-source mobile robot available in two versions: TurtleBot 4 Standard and TurtleBot 4 Lite . Both are equipped with an iRobot® Create 3 mobile platform, an educational robot comprising a ROS 2 programmable Raspberry Pi4 computer, a 2D LiDAR, an OAK-D camera and much, much more…
TurtleBot 4 is a significant improvement over TurtleBot 3 in terms of hardware, software, and autonomy. With a more robust robotic platform, improved computing power, and a larger battery , TurtleBot 4 is ready to take on new challenges in mobile robotics
Latest additions to the Dynamixel range
Waterproof actuators at more affordable prices
The sealed Dynamixel actuators in the XW range are waterproof, meaning they can be used underwater, outdoors in all weather conditions and in very wet environments. They are IP68 certified and can be immersed for 1 hour at a depth of 1 metre . In addition, the IP68 rating offers full dust protection.
The connectors and cables are also waterproof to ensure the actuator is not damaged in any way.
Both servo motors are currently priced at €991.68 incl. VAT, which will put off users who simply want to test them on a prototype.
The 2 new Dynamixel servos that complete this range will be priced at €718.80 incl. VAT, marking a reduction of almost €300 .
The table below shows a comparison of the 4 Dynamixel waterproof servos:
| Servo motor | Operating voltage [V] | Stall torque [Nm] | Stall current [A] | No-load speed [rpm] | Communication protocol | Dimensions (wxhxd) [mm] | Weight [g] |
| XW430-T333-R (new) |
10–14.8 | 3.10 | 1.3 | 31 | RS485 | 28.5 x 46.5 x 34.0 | 96 |
| XW430-T200-R (new) |
10–14.8 | 2.30 | 1.3 | 53 | RS485 | 28.5 x 46.5 x 34.0 | 96 |
| XW540-T260-R | 10–14.8 | 9.50 | 4.9 | 40 | RS485 | 33.5 x 58.5 x 45.9 | 165 |
| XW540-T140-R | 10–14.8 | 6.90 | 4.9 | 72 | RS485 | 33.5 x 58.5 x 45.9 | 165 |
These new servos are smaller and less powerful than their predecessors.
The XW430-T200-R ranks second in terms of speed in this waterproof range. They are about as powerful as the servos in the MX-28, XH430 and XM430 series , which is not bad at all.
The XC series has grown
At the end of 2019, ROBOTIS released a new range of servos, the XC series , a high-performance version of one of its entry-level actuators: the XL-430 .
Offering a better torque and energy efficiency and more efficient heat dissipation, they can be used in more powerful robots and mobile machines designed for rough terrain.
4 new models have now been added to the range:
| Servo motor | Operating voltage [V] | Stall torque [Nm] | Stall torque [Nm] | No-load speed [rpm] | Communication protocol | Dimensions (wxhxd) [mm] | Weight [g] |
| XC330-T288-T | 11.1–12 | 0.92 | 0.8 | 65 | TTL | 20.0 x 34.0 x 26.0 | 23 |
| XC330-T181-T | 11.1–12 | 0.76 | 0.8 | 104 | TTL | 20.0 x 34.0 x 26.0 | 23 |
| XC330-M181-T | 5–6 | 0.60 | 1.8 | 129 | TTL | 20.0 x 34.0 x 26.0 | 23 |
| XC330-M288-T | 5–6 | 0.93 | 1.8 | 129 | TTL | 20.0 x 34.0 x 26.0 | 23 |
Dynamixel-P: the new name for the Dynamixel Pro+
The Dynamixel-P range of servo motors from Robotis is the new name for the Dynamixel Pro+ (first known as the Dynamixel Pro range). This is the second generation of professional servo motors from Robotis. The Dynamixel-P range has significantly improved the performance of the Dynamixel: each servo has a high accuracy of movement and a short response time. Fully programmable, this solution was designed for industrial and advanced robotics applications. These servomotors, with unparalleled power and precision, are controllable in position, speed and torque.
There are two subfamilies:
- PM series : high-precision servo motor with a resolution of 500,000 pulses per revolution and up to 60 W of output power and 10 Nm of torque.
- PH series : ultra-high precision servo motor with a resolution of 1,000,000 pulses per revolution and up to 100 W of output power and 44 Nm of torque.
| Model | Continuous Torque [N.m] | No Load Speed [rpm] | Voltage | Dimension (mm) | Weight(g) | Data sheet |
| PH54-200-S500-R | 44,7 | 33,1 | 24 | 54 x 126 x 54 | 855 | See |
| PH54-100-S500-R | 25,3 | 33,3 | 24 | 54 x 108 x 54 | 740 | See |
| PM54-060-S250-R | 10,1 | 33,1 | 24 | 54 x 126 x 54 | 855 | See |
| PM54-040-S250-R | 3,9 | 28,4 | 24 | 54 x 108 x 54 | 710 | See |
| PH42-020-S300-R | 5,1 | 32,7 | 24 | 42 x 84 x 42 | 340 | PH42-020-S300-R |
| PM42-010-S260-R | 1,7 | 28 | 24 | 42 x 72 x 42 | 270 | PM42-010-S260-R |
Dynamixel-Y: The New Era of Robotics Within Your Reach
The new Dynamixel-Y servomotors mark an evolution in robotics, offering superior performance, enhanced precision, and unprecedented ease of use. Designed to excel in demanding environments, they stand out with higher torque, improved resolution, and increased robustness, thus ensuring their reliability across a multitude of applications, from industry to education. With Dynamixel-Y, designers now have the necessary tools to push the boundaries of technology, paving the way for more sophisticated and effective solutions.
| Model | Torque [N.m] | No-load Speed [rpm] | Resolution [pulse/rev] | Dimensions (mm) | Weight (g) | Datasheet |
| YM070-210-M001-RH | 0.32 | 5,675 | 524,288 | 70 x 50.9 | 340 | View |
| YM070-210-R051-RH | 8.2 | 111.3 | 26,738,688 | 70 x 71.1 | 790 | View |
| YM070-210-R051-RH | 14.6 | 57.3 | 51,904,512 | 70 x 71.1 | 790 | View |
| YM080-230-M001-RH | 0.62 | 3,190 | 524,288 | 80 x 54.1 | 530 | View |
| YM080-230-R051-RH | 15.8 | 62.5 | 26,738,688 | 80 x 78.1 | 1,200 | View |
| YM080-230-R099-RH | 26.0 | 32.2 | 51,904,512 | 80 x 78.1 | 1,200 | View |