Last week I received the new servomotors, I opted for numerical servos because they are much more powerful than the Hitec HS311 and they have much more options.

So I chose HerkuleX servos from Dongdu Robot, they are very similar to the Dynamixel but half the price for the same quality !

There are available on dfrobot.

I have not tested them yet because I am waiting for a Uart converter (3,3v to TTL). The STM32F4 is running on 3,3v but the motors need a TTL logic… Anyway, now I have them, so I will be able to begin the design in Solidwork \o/

HerkuleX DRS-0101

HerkuleX DRS-0101

• Carbon Brush Cored DC Motor
• A lot of adapting pieces
• Rotation angle range: 320° Continuous Rotation
• Resolution: 0.325°
• Stall torque: 12kg.cm （7.4v）
• Maximum Speed: 0.166s/60° (7.4v)
• Gear: 1:266, Super Engineering Plastic
• Size: 45mm(W) x 24.0mm(D) x 31mm(H)
• Weight: 45g

• Working Voltage: 7~12VDC(Optimized 7.4V)
• Rated Current: 450mA @ 7.4V : 1.7kgf.cm
• Communication Link: Full Duplex Asynchronous Serial(TTL Level), Binary Packet, Multi Drop
• Multi control through Servo ID: 0 ~ 253, 254(Broadcast only)
• Maximum Baud Rate: 0.67Mbps
• Feedback: Position, Speed, Temperature, Load, Voltage etc.
• Various Control Algorithm: PID, Feedforward, Trapezoidal Velocity Profile, Velocity Override, Torque Saturator & Offset, Overload Protection, Neutral Calibration, Dead Zone

One great advantage is that the motors can be connected to the bus, which save a lot of connectors and space for cables.

HerkuleX DRS-0101 BUS