The PincherX 100 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 100 is the Robotis DYNAMIXEL U2D2 which enables easy access to DYNAMIXEL Wizard software as well as ROS. The PincherX 100 offers 4 degree of freedom and a full 360 degree of rotation.
|Overview|| Packages for Ubuntu 16.04 & ROS Kinetic / Ubuntu 18.04 & ROS Melodic Contains Meshes, URDF, Inertial values, driver node as well as Gazebo config / Moveit config and examples / demos.
||The Interbotix Serial Firmware allows users who wish to use an onboard IK engine to operate a 5DOF arm through the use of serial over USB.||The ROBOTIS Dynamixel SDK is a software development kit that provides Dynamixel control functions using packet communication.|
|Operating System||Linux||Windows / MacOS / Linux||Windows / MacOS / Linux|
|Languages||C++, Python, or any other ROS compatable languages||Any language which can communicate via serial over USB||C, C++, C#, Python, Java, MATLAB, LabVIEW and ROS.|
|Controller||DYNAMIXEL U2D2||OpenCM9.04c||DYNAMIXEL U2D2|
||A Windows Demo is provided allowing for control of any standard X-Series 5DOF arm. Tools are provided for users to become familiar with the Interbotix Serial Protocol||Robotis provides sample code in many languages for users to get started|
|Kinematics Engine||Northwestern Illinois Kinematics Library||Interbotix 5DOF IK Engine||None|
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.
The PincherX 100 comes fully tested and assembled and is constructed from rigid 1/8" P95 acrylic and heat resistant high strength ABS 3D printed materials. The arm sits on a 7/8" needle roller bearing for added stability. . 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.
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 it 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 for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy to get started with the PincherX 100 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.
|PincherX 100 Arm|
|Degrees of Freedom||4|
XL430 DYNAMIXEL servos support up to 360 degrees of rotation, which results in an extraordinary range of motion. The PincherX 100 Robot Arm has a 30cm horizontal reach from center of the base to gripper with a total span of 60cm. The working payload for the PincherX 100 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 100 can lift more than 50g, we do not recommend payloads over this number.