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Getting Started with Actuators

This guide introduces the opensourceleg.actuators module and provides essential safety information for all actuator tutorials.

Prerequisites

  • Raspberry Pi
  • Python environment with opensourceleg package installed
  • Supported actuator (Dephy actuator used in examples)
  • External power supply

Hardware Setup

  1. Connect the actuator to your computer via USB (typically at /dev/ttyACM0)
  2. Connect and verify the external power supply
  3. Ensure proper mounting of the actuator before operation

Safety Guidelines

Please follow these guidelines when following the opensourceleg.actuators tutorials.

1. Mechanical Safety

  • Securely mount the actuator before operation
  • Maintain clear space around moving parts
  • Verify sufficient range of motion for commands

  • Be aware of mechanical limits and stops

  • Have a clear emergency stop plan

  • Know how to quickly terminate scripts (Ctrl+C)
  • Keep emergency stop button accessible

2. Electrical Safety

  • Never exceed rated voltage/current limits
  • Verify proper power supply connection
  • Ensure proper grounding
  • Check all electrical connections before powering on

3. Operational Safety

  • Start with conservative values:

    • Low voltages in voltage control
    • Low currents in current control
    • Small steps in position control

  • Continuously monitor sensor readings

  • Watch for unexpected behavior:
    • Oscillations
    • Excessive current draw
    • Unusual sounds or vibrations
    • Unexpected resistance

4. Best Practices

  • Verify all connections
  • Check mounting security
  • Clear workspace of obstacles

  • Review emergency procedures

  • Monitor system behavior

  • Keep hands clear
  • Be ready to terminate

  • Log any unusual behavior

  • Power down safely

  • Document any issues
  • Verify data logging
  • Check actuator temperature

Troubleshooting Guide

  • Check device presence: ls /dev/ttyACM*

  • Verify USB permissions, if you see Permission denied error, it is likely because the current user does not have permission to access the serial ports. You can add your user to the dialout group to fix this. If you are on a Linux system, you can run sudo usermod -a -G dialout $USER to add your user to the dialout group. Then you need to restart your system for the changes to take effect.

  • Try physical reconnection:

    1. Unplug USB
    2. Wait a few seconds
    3. Reconnect

  • Verify power supply connection

  • Check voltage levels
  • Confirm power LED indicators
  • Monitor current draw

Getting Help

If you encounter any issues or need assistance:

  1. Check the troubleshooting section in the specific tutorial
  2. Review the API documentation
  3. Post questions on the Open Source Leg community forum

Next Steps

Choose a tutorial to get started:

Each tutorial includes specific setup instructions and code examples.