Specifications

Attention

This documentation site has been moved. Please refer to its new location in the future.

This section details the technical specifications of Interbotix X-Series Arms.

In-Depth Specifications

This section provides links to each of the X-Series Arms’ more detailed specifications.

Hardware

ROBOTIS U2D2

The U2D2 controller is a USB to TTL converter that allows for the control of DYNAMIXEL servos using a computer.

../_images/u2d2.png

See the U2D2 e-Manual page for more information.

Power Hub Board

The 6 Port, 3 Pin XM/XL Power Hub allows you to split the DYNAMIXEL daisy chain into 5 separate chains while providing power to all of them. It has the additional benefit of having both a 2.1x5.5mm female barrel jack and screw terminals.

../_images/hub.png

See the Trossen Robotics Power Hub Store Page for more information.

Arm Reach

How far each joint on an X-Series arm extends and the arm is fully extended.
Reach - Total Length (mm)
  B C D E F
  Elbow Joint Wrist Tilt Joint Wrist Rotate Gripper Rail Finger Tip
PincherX-100 106 206 N/A 292 335
PincherX-150 158 308 373 439 482
ReactorX-150 158 308 373 439 482
ReactorX-200 206 406 471 537 580
WidowX-200 206 406 471 537 580
WidowX-250 255 505 570 636 679
WidowX-250 6DOF 255 505 570 636 679
ViperX-250 257 507 577 643 706
ViperX-300 306 606 676 742 810
ViperX-300 6DOF 306 606 676 745 812
Reach - Section Length (mm)
  A~B B~C C~D D~E E~F
  Upper Arm Forearm Wrist Tilt to Rotate Gripper (to Rail) Finger Tip
PincherX-100 106 100 0 86 43
PincherX-150 158 150 65 66 43
ReactorX-150 158 150 65 66 43
ReactorX-200 206 200 65 66 43
WidowX-200 206 200 65 66 43
WidowX-250 255 250 65 66 43
WidowX-250 6DOF 255 250 65 66 43
ViperX-250 257 250 70 66 63
ViperX-300 306 300 70 66 68
ViperX-300 6DOF 306 300 70 69 68

Workspace

Arm Workspace & Span (mm)
Arm Recommended Workspace Total Span
PincherX-100 420 600
PincherX-150 630 900
ReactorX-150 630 900
ReactorX-200 770 1100
WidowX-200 770 1100
WidowX-250 910 1300
WidowX-250 6DOF 910 1300
ViperX-250 910 1300
ViperX-300 1050 1500
ViperX-300 6DOF 1050 1500
Diagram describing the total and recommended workspace of each arm.

Note

Recommended Workspace is defined as 70% of total span of the arm.

Working Payload

Working Payload (g)
Arm Working Payload
PincherX-100 50
PincherX-150 50
ReactorX-150 100
ReactorX-200 150
WidowX-200 200
WidowX-250 250
WidowX-250 6DOF 250
ViperX-250 450
ViperX-300 750
ViperX-300 6DOF 750
Chart describing the payloads of each arm. Exact weights are in the adjacent table.

Note

The working payload for each arm is the maximum weight we recommend for periods of repeated movement inside of your recommended workspace. When operating for longer periods of time, ‘rest’ poses should be incorporated to prevent servos from overheating. In all situations you should be operating at or below the working payload for your model of arm.

Linkage Dimensions

Diagram of the arm in its home position where the true offsets are labelled.
Offsets & True Upper Arm Length (mm)
  A B C D E
  Upper Arm Elbow Offset True Upper Arm Length Forearm Offset Angle
PincherX-100 100 35 106 100 19.3°
PincherX-150 150 50 158 150 18.4°
ReactorX-150 150 50 158 150 18.4°
ReactorX-200 200 50 206 200 14.0°
WidowX-200 200 50 206 200 14.0°
WidowX-250 250 50 255 250 11.3°
WidowX-250 6DOF 250 50 255 250 11.3°
ViperX-250 250 60 257 250 13.5°
ViperX-300 300 60 306 300 11.3°
ViperX-300 6DOF 300 60 306 300 11.3°

Gripper Min / Max

Gripper Min / Max (mm)
Arm Min Max
PincherX-100 30 74
PincherX-150 30 74
ReactorX-150 30 74
ReactorX-200 30 74
WidowX-200 30 74
WidowX-250 30 74
WidowX-250 6DOF 30 74
ViperX-250 30 74
ViperX-300 42 114
ViperX-300 6DOF 42 114
Diagram describing what gripper width is measuring. It is the distance between the center of the carriages.

Note

The min and max values are measured from the center of the gripper carriages.