Item #: KIT-PINX150
Availability: In Stock
Price: $949.95

    Quantity:

    The PincherX 150 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 150 is the Robotis DYNAMIXEL U2D2 which enables easy access to DYNAMIXEL Wizard software as well as ROS. The PincherX 150 offers 5 degree of freedom and a full 360 degree of rotation.

    Hardware Overview




    ROS Packages
    What is a Smart Servo?




    Software Control

    ROS Serial Communication DYNAMIXEL SDK
    Overview
    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
    Operating System Linux Windows / MacOS / Linux Windows / MacOS / Linux
      Languages
    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
    Controller DYNAMIXEL U2D2 OpenCM9.04c DYNAMIXEL U2D2
      Demos
    Demos Examples include:

    • MoveIt!
    • Rviz Gazebo Simulation
    • Physical Robot Control
    • Puppet Control
    • Diagnostics & Data Recording
    • PS3/PS4 Control
    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
    Kinematics Engine Northwestern Illinois Kinematics Library Interbotix 5DOF IK Engine None



    Built with Industry Leading Smart Servos

    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 150 comes fully assembled and tested and is constructed from extremely rigid 20mm x 20mm extruded aluminum and all aluminum brackets. The arm sits on an industrial grade,slewing bearing for added stability and accuracy. 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.




    3D PRINTABLE GRIPPER

    3D PRINT CUSTOM GRIPPERS

    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.




    CM9.04-C Microcrontroller

    ROS Packages & Support

    ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy to get started with the PincherX 150 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.

    T-SLOT EXTRUDED ALUMINUM

    ALUMINUM CONSTRUCTION

    All of the X-Series arms are constructed using extremely ridged, lightweight T-slot extruded aluminum and aluminum brackets. All of the X-Series Arms come with a 90 degree elbow design allowing for a greater range of movement and the ability to fold completely on itself. 


    INDUSTRIAL GRADE BEARING

    SLEWING BEARING BASE

    The PincherX 150 features, high grade slewing bearing base as the central mounting point. The bearing ensures maximum rigidity and accuracy and takes all strain of the base servo increasing the longevity of the arms.



    Product Features:

    • XL430-W250-T Servos
    • Industrial Bearing Base
    • Aluminum Construction
    • U2D2 for Onboard Processing
    • Gripper with Interchangeable Fingers
    • 5 DOF

    Includes:

    • 8x XL430-W250-T Actuators
    • 1x DYNAMIXEL U2D2
    • 1x 12v5a Power Supply
    • 1x USB2 Micro Cable
    • PincherX 150 Hardware & Frames
    • Extra Gripper Foam / Rubber
    • Drivers / Extra Hardware
    PincherX 150 Arm
    Degrees of Freedom 5
    Reach 450mm
    Total Span 900mm
    Accuracy
    5mm
    Working Payload 50g
    Total Servos
    8
    Wrist Rotate Yes
    Precision Test
    Payload Test


    360 WORKSPACE
    PincherX 150 Reach

    XL430 DYNAMIXEL servos support up to 360 degrees of rotation, which results in an extraordinary range of motion.


    Span 90cm

    Reach 45cm

    The PincherX 150 Robot Arm has a 45cm horizontal reach from center of the base to gripper with a total span of 90cm. The working payload for the PincherX 150 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 150 can lift more than 50g, we do not recommend payloads over this number.



    Documentation:

      Downloads: