ViperX-250

Attention

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Overview

The ViperX-250 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 XM540-W270 & DYNAMIXEL XM430-W350 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 ViperX-250 is the Robotis DYNAMIXEL U2D2 which enables easy access to DYNAMIXEL Wizard software as well as ROS. The ViperX-250 offers 5 degree of freedom and a full 360 degree of rotation.

../_images/vx250.png
ViperX-250
Degrees of Freedom 5
Reach 650mm
Total Span 1300mm
Accuracy 1mm
Working Payload 450g*
Total Servos 7
Wrist Rotate Yes

Note

* Working Payload for the ViperX-250 is inside its maximum reach, if intending to use a 450g 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 -102 100 2+3
Elbow -102 92 4
Wrist Angle -100 123 5
Wrist Rotate -180 180 6
Gripper 30mm 74mm 7

Default Servo Configurations

ID Joint Name Servo Baudrate
1 waist XM540-W270 1Mbps
2 shoulder XM540-W270 1Mbps
3 shoulder_shadow XM540-W270 1Mbps
4 elbow XM540-W270 1Mbps
5 wrist_angle XM430-W350 1Mbps
6 wrist_rotate XM430-W350 1Mbps
7 gripper XM430-W350 1Mbps

Kinematic Properties

Product of Exponentials [Learn More]

M & =
\begin{bmatrix}
1.0 & 0.0 & 0.0 & 0.468575 \\
0.0 & 1.0 & 0.0 & 0.0      \\
0.0 & 0.0 & 1.0 & 0.37705  \\
0.0 & 0.0 & 0.0 & 1.0
\end{bmatrix}

\\

Slist & =
\begin{bmatrix}
0.0 & 0.0 & 1.0 &  0.0     & 0.0     & 0.0  \\
0.0 & 1.0 & 0.0 & -0.12705 & 0.0     & 0.0  \\
0.0 & 1.0 & 0.0 & -0.37705 & 0.0     & 0.06 \\
0.0 & 1.0 & 0.0 & -0.37705 & 0.0     & 0.31 \\
1.0 & 0.0 & 0.0 &  0.0     & 0.37705 & 0.0
\end{bmatrix}^T