PincherX 150 Robot Arm

Description

■  Description

The PincherX 150 Robot Arm belongs to a new family of arms from Interbotix featuring the DYNAMIXEL X-Series Smart Servo Motors. The X-Series actuators offer higher torque, more efficient heat dissipation and better durability all at a smaller form factor over previous DYNAMIXEL servos. The DYNAMIXEL XL430-W250-T servos offer high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback, as well as voltage levels, load, and compliance settings are user accessible as well. At the heart of the PincherX 150 is the U2D2 which enables easy access to DYNAMIXEL Wizard software as well as ROS. The PincherX 150 offers 5 degree of freedom and a full 360 degree of rotation.

• XL430-W250-T Servos
• Industrial Bearing Base
• Aluminum Construction
• U2D2 for Onboard Processing
• Gripper with Interchangeable Fingers
• 5 DOF

The PincherX 150 comes fully assembled and tested and is constructed from extremely rigid 20mm x 20mm extruded aluminum and all aluminum brackets. The arm sits on an industrial grade, slewing bearing for added stability and accuracy. The electronics are covered with a transparent acrylic shield to keep the electronics free from debris as well as with impact from the arm itself.

■  Software Control

■  Built with Industry Leading Smart Servos

The DYNAMIXEL X-Series smart servos offer features that would normally only be found on industrial level motors for a fraction of the price.

• Addressable – All servos have unique IDs allowing users to easily communicate with individual servos or groups of servos. The Shadow ID feature also allows for easy control of a second servo in dual servo joints.
• Daisy Chain – DYNAMIXEL servos are connected in a daisy chain (each servo plugged into the next in series) making them extremely scalable and easy to maintain.
• Servo Management Software – DYNAMIXEL Wizard 2.0 allows users to configure register settings such as PID gains, Control Modes (position, velocity, current, or PWM) and others. The software also provides tools for firmware updates, diagnostics, configuration and testing, data plotting, generating & monitoring DYNAMIXEL packets, and more.
• Trajectory Smoothing – Smart servos have multiple registers for setting velocity & acceleration limits, PID gains, and more for fine tuning smooth joint motions.
• Low Level Libraries Provided – DYNAMIXEL servos have libraries that abstract away the serial communication layer allowing developers to concentrate their time on higher level code.

■  3D Print Custom Grippers

The X-Series gripper carriages are designed for users to quickly and easily change the gripper fingers for different projects. CAD files for the gripper are available for download, if you can design and 3D print, the customization is endless. Included with the arm are sticker backed foam and sorbothane rubber both increase gripping strength while relieving stress on the gripper servo.

■  ROS Packages & Support

ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy to get started with the PincherX 150 arm. Packages include full meshes and URDFs (including accurate inertial models for the links), driver node that controls the physical robot arm and publishes joint states as well as gazebo and moveIt support. Examples are also included to show users how the core packages work.

■  Aluminum Construction

All of the X-Series arms are constructed using extremely ridged, lightweight T-slot extruded aluminum and aluminum brackets. All of the X-Series Arms come with a 90 degree elbow design allowing for a greater range of movement and the ability to fold completely on itself.

■  Industrial Grade Bearing

Each of the X-Series arms* features an industrial quality, high grade slewing bearing base as the central mounting point. The bearing ensures maximum rigidity and accuracy and takes all strain of the base servo increasing the longevity of the arms.
(* PincherX 100 comes with roller bearing base)

■  PincherX 150 Reach & Span

X430 DYNAMIXEL servos support up to 360 degrees of rotation, which results in an extraordinary range of motion.

The PincherX 150 Robot Arm has a 45cm horizontal reach from center of the base to gripper with a total span of 90cm. The working payload for the PincherX 150 arm is 50g. Working payload is the weight in which the arm should not exceed under normal working circumstances and is measured by the arm’s ability to repeatedly lift an object at roughly half extension without failure. While the PincherX 150 can lift more than 50g, we do not recommend payloads over this number.

■  Mounting Hardware

The base comes with mounting thumb screws to secure the arm easily to most any surface, wood screws are also an option for a more permanent mounting solution.

■  Package Contents