常见问题解答

BEAR系列驱动器

是的，但是由于BEAR具有不同的尺寸和减速比，反驱动扭矩会有所变化。
是的。不同的BEAR可能有不同的配置，但您可以简单地将其视为“安装在了减速箱的输入端。
BEAR驱动器的标准输出端齿轮回差是：3±2弧分。 
您可以使用的最大电流在不同的BEAR之间有较大区别，而且还受到散热能力的影响。请参考我们的产品页面或SDK手册以获取更多详细信息。

当然可以。 

是的，我们支持Python3、C++和LabVIEW。
通信频率为每帧125微秒，写操作占用一帧，读操作占用两帧。因此，写入的最大频率为8kHz，读取的最大频率为4kHz。请注意，这仅是理论值，实际性能受实际系统和程序的影响较大。
BEAR的标准保修期为一年。详情请参考我们的 保修政策 。
我们在有货的情况下在3个工作日内发货BEAR产品。
BEAR的性能确实会受到发热的限制。BEAR在产生扭矩时因为消耗电流而产生热量，一旦过热，其性能将显著降低。虽然BEAR可以承受高达90℃的温度，但它可升温的空间是关键因素。当BEAR温度较低时，它可以承受大量功率并爆发出巨大的输出，因为它可升温的空间很大；但当BEAR已经非常热时，它可升温的空间较小，因此很可能无法输出与在冷却状态时相同的爆发力。尽管不是必须使用的，液冷有助于将热量从BEAR中带走，从而给BEAR提供更大的温升空间。
Koala BEAR和Panda BEAR的液冷接口是M5螺纹，Kodiak BEAR则为M4。选择具有相应螺纹的管接头，并可以选择您喜欢的管尺寸（3mm、4mm，甚至6mm）、连接类型（带刺的、推到连接等）和接头的形状（直通、弯头等）。

这可能是由各种原因引起的。请检查:

  • BEAR是否使用9~48V电源并且状态LED为绿色。
  • 您的计算机是否识别RS485转接器，并且已选择了正确的端口。
  • 您的程序中以及RS485转接器上的波特率设置是否与当前目标BEAR匹配。
  • 从BEAR到RS485转接器的信号电缆是否正常工作。

在大多数情况下，这意味着您的通信受到很多干扰。请检查您的信号电缆质量。如果您使用的是长电缆或有一长串的BEAR，那么请在串联的最后加一个120欧姆的端子电阻，并在您的USB2BEAR dangle上打开终端电阻开关。但请确保在RS485总线的末端没有端子电阻时不要使用USB2BEAR上的端子电阻。

在大多数情况下，这意味着您的信号连接存在问题，例如标头处的间歇性连接。请检查信号电缆的质量。为了避免损坏电缆，请小心，绝不要通过电线拔出电缆。如果需要从 BEAR 断开信号标头，请始终只拔出标头。

这种情况发生在以下条件下：

  • BEAR未启用。
  • BEAR存在未解决的错误。这由红色LED指示。
  • 您的目标命令超出范围/超出限制。

首先检查错误代码。 

硬件故障通常是由故障的电源引起的。禁用然后启用BEAR可以清除此错误，但如果触发错误的外部原因保持不变，这个错误很可能会再次出现。

关节限位错误意味着执行器已经移动到了其关节限位之外。禁用BEAR并通过修改其关节限位设置或手动移动输出轴将其移出关节限位，然后重新启用它将清除错误。

BRUCE开放平台

BRUCE开箱即可使用，不需要强制性的额外实验设备。 additional lab setup or equipment. However, for optimal performance, we recommend using BRUCE on a flat, non-slippery surface.

我们高度重视客户的隐私，无法直接将您联系到购买了BRUCE的其他开发者，但您可以 加入我们的Slack社区.

遗憾的是，一旦您下订单，我们将无法支持退货。下订单后，您将获得 对我们的开源数据库的访问权限，其中包括我们的Wiki、CAD文件和源代码。请理解这种访问是不可逆转的。

BRUCE comes with the robot itself, a rechargeable  Bluetooth Gamepad with wireless ESTOP integrated, a calibration tool, a USB hub, and a 3000mAh 4s battery, all included in a carry-on suitcase. Please note that you’ll need to acquire your own battery charger, and you can go with any RC LiPo battery charger.

As of Jan. 19, 2024, BRUCE can walk out of the box, with some pre-programmed arm motions that you can play withy. Software that supports running and jumping/hopping is scheduled to be released in 2024.

Replacement parts for BRUCE are readily accessible due to its open-source nature. Most of

the consumable parts, which are the plastic covers, are designed to be 3D printable, and you can find CAD files for most components. Additionally, you can purchase components directly from us. We keep these consumable parts at very affordable prices since we encourage our customers to actively use BRUCE and we do not want the fear of repair cost to hold them back.

A: The onboard computer for BRUCE is the Khadas Edge 2. You can find more details on the

Khadas website: www.khadas.com/edge2

Communication protocols between the onboard computer and sensors/motors vary, including RS485 for lower limbs, RS232 for upper limbs, but all converge to USB communication with the onboard computer.

The ongoing cost of ownership is typically minimal, primarily involving the replacement of broken parts, most of which can be 3D printed.

Tech support remains free via our Slack workspace and forum after the first two months, although response times may vary.

Shipping costs for repairs depend on your location. For customers in the US, you are responsible for domestic shipping costs to our Los Angeles location and return shipping to you. The actual cost varies by carrier, distance, and service selected.

 

Customers outside of the US will need to ship their units to our location in China.

BRUCE’s batteries are off-the-shelf 4S batteries.

The coolant used in BRUCE’s motors is DI water, and it ships without coolant due to carrier regulations. You are actually free to choose not to add any coolant if you are not using liquid cooling and the actuators are not overheating in your applications.

The robot can draw significant peak current especially when attempt to perform dynamic motions. We sometimes see peaks at more than 20A but it is only for a very short impulse, thus we recommend you to go with a power supply that can deliver at least 30A at 16V.

 

However, most of the power supplies you can get from the mark has various protection mechanisms built in and they don’t like back-EMF, which can exceed the supply voltage and basically “recharge” the power source. BRUCE generates some significant back-EMF especially when handling impacts, such as while running, and in this cases you might find out that the BEAR actuators on BRUCE error out with “hardware fault”, which is caused by the power supply rejecting back-EMF. However, you are most likely not going to see this problem when using batteries, since batteries are fine to get recharged so they can handle the back-EMF very well.
 
You should still be fine to be on a power supply with walking motions, but we highly recommend you to use batteries if you are to develop and test more dynamic behavior.

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