The PincherX-150 Robot Arm belongs to the Interbotix X-Series family of arms featuring the DYNAMIXEL X-Series Smart Servo Motors. The X-Series actuators offer high torque, efficient heat dissipation and great durability all at a smaller form factor over previous DYNAMIXEL servos. The DYNAMIXEL XL430-W250 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-150 offers 4 degree of freedom and a full 360 degree of rotation.

Degrees of Freedom 5
Reach 150mm
Total Span 900mm
Accuracy 5mm
Working Payload 50g*
Total Servos 8
Wrist Rotate Yes


* Working Payload for the PincherX-150 is inside it’s maximum reach, if intending to use a 50g weight we recommend no more than a 50% extension of the arm.

Default Joint Limits

Default joint limits are the safe range of operation for each joint. These are set in the firmware, defined as degrees from Zero (servo centered).

Joint Min Max Servo ID(s)
Waist -180 180 1
Shoulder -113 111 2+3
Elbow -120 95 4+5
Wrist Angle -100 123 6
Wrist Rotate -180 180 7
Gripper 30mm 74mm 8

Default Servo Configurations

ID Joint Name Servo Baudrate
1 waist XL430-W250 1Mbps
2 shoulder XL430-W250 1Mbps
3 shoulder_shadow XL430-W250 1Mbps
4 elbow XL430-W250 1Mbps
5 elbow_shadow XL430-W250 1Mbps
6 wrist_angle XL430-W250 1Mbps
7 wrist_rotate XL430-W250 1Mbps
8 gripper XL430-W250 1Mbps