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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 5 degree of freedom and a full 360 degree of rotation.
HIGH PERFORMANCE DYNAMIXEL SERVOS
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 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 WidowX 200 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.
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.
The base comes with mounting holes and thumbscrews / pem nuts to secure the arm easily to most any surface, wood screws are also an option for a more permanent mounting solution.