Price: $949.95 In Stock


    • Degrees of Freedom
    • Reach
    • Span
    • Repeatability
    • Working Payload
    • Weight
    • 5
    • 450mm
    • 900mm
    • 5mm
    • 50g
    • 4lbs

    Software Features

    Hardware Features

    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.

    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.



    Gazebo Arm Gazebo Simulation Configuration - Contains configuration files, launch files, and example worlds to simulate the X-Series arms in Gazebo. Also has position and trajectory controllers with tunable PID gains so that ROS can control the arms. Joystick Demo Joystick Control - Control any X-Series arm using a Bluetooth joystick controller. This package can be used to control the movements of any X-Series robotic arm using a SONY PS3/PS4 controller or Microsoft Xbox360 controller (untested) via Bluetooth.
    MoveIt Arm MoveIt Motion Planning Configuration - Contains the necessary config files to get any of the X-Series arms working with MoveIt, the standard motion planning framework for ROS. This package also provides interfaces to work with the arms in a Gazebo simulation. Dual Joy Arm Dual Arm Control - Enables the control of multiple X-Series arms using scripts. Configuration files are provided that allow for 2 or more arms to be controlled simultaneously using multithreading techniques.
    Python Perception Arm Perception Pipeline Configuration - Contains the necessary config and launch files to get any of the many Interbotix X-Series arms working with the perception pipeline, allowing for the arms to interact with depth cameras such as the RealSense D415. MoveIt Interface Arm MoveIt Interface and API - Contains a small API that allows a user to command desired end-effector poses to an Interbotix arm. Also has a modified version of the Move Group Python Interface Tutorial script for users to understand the basics of MoveIt Commander.
    Diagnostic Tool Arm Arm Diagnostic Tool - Analyze the state of one joint or any number of joints over time while running through a script, or while playing back a ROS bag file. Visualize different parameters such as temperature, position, and effort over time. PID Interface PID Gains Test Environment - A way to test 'pwm' or 'current' PID gains when operating the arm in either 'pwm' or 'current' mode. The package moves the robot through a series of poses as a way to test the effects of different gains and control modes.
    Dual Joy Dual Arm Joystick Control - Control two X-Series arms using a single joystick controller. Builds on top of the Joystick and Dual Control packages and contains only configuration and launch files, an example of ROS’s modularity. Dual Puppet Arm Arm Puppeteering - Demos a record and playback feature of the X-Series arms. Also allows for the manual manipulation of one X-Series arm while the motion is replicated nearly simultaneously in another arm.
    Python Demo Arm Python Demos - Showcase of examples for the Interbotix Python Arm Module. We made Python wrappers for the X-Series arm that allow users to control their arm without writing a single line of ROS code Module.


    ROS packages for Kinetic, Melodic and Noetic on Ubuntu Linux 16.04, 18.04 and 20.04 make it easy to get started with the 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.

    IRROS allows the lower-level actuator ROS wrappers to be easily integrated into higher-level code, we have developed an intuitive approach called the Interbotix Research Robotics Open Standard (IRROS). To learn more about IRROS click here.

    MoveIt is the most widely used software for manipulation and has been used on over 150 robots. It is released under the terms of the BSD license, and thus free for industrial, commercial, and research use. By incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation, MoveIt is state of the art software for mobile manipulation.

    Robot simulation is an essential tool in every roboticist's toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios. Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Best of all, Gazebo is free with a vibrant community.


    Dynamixel 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. 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.

    Range - The ViperX 300 Robot Arm has a 75cm horizontal reach from center of the base to gripper with a total span of 150cm. The working payload for the ViperX 300 arm is 750g. 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 ViperX 300 can lift more than 750g, we do not recommend payloads over this number.

    AprilTag - is a visual fiducial system, useful for a wide variety of tasks including augmented reality, robotics, and camera calibration. Targets can be created from an ordinary printer, and the AprilTag detection software computes the precise 3D position, orientation, and identity of the tags relative to the camera. The AprilTag library is implemented in C with no external dependencies. It is designed to be easily included in other applications, as well as be portable to embedded devices. Real-time performance can be achieved even on cell-phone grade processors.

    3D Print Custom End Effectors - 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 it and 3D print the customization is endless. Included with the arm are sticker backed foam to increase gripping strength while relieving stress on the gripper servo.

    Repairability - The X-Series arms are made for the lab, our arms are intended to be worked on and we've made it as easy as possible to keep your manipulator up and running. Quickly and easily swap out motors that need to be replaced, lengthen or shorten the arm to your needs. Everything you need to repair your platform is kept in stock, making it easy to keep your equipment up and running with minimal downtime.


    The (optional) RPI4 / PS4 Bluetooth Control Set comes pre-configured with Ubuntu MATE 20.04, ROS Noetic and the Interbotix PI ROS packages installed, allowing for plug and play control for the X-Series arms. This is optional but available for users who want to control the manipulator via remote control. This kit can also be setup to work with any of the Interbotix X-Series arms.

    The (optional) Vision kit upgrade adds the Intel D415 RealSense Depth Camera, Camera stand (not pictured) and colored blocks all designed to work with our vision based ROS packages. This addon will enable the use of pick & place, object sorting / tracking and detection.


    PincherX 150

    • Degrees of Freedom
    • Reach
    • Span
    • Repeatability
    • Working Payload
    • Total Servos
    • Wrist Rotate
    • 5
    • 450mm
    • 900mm
    • 5mm
    • 50g
    • 8
    • Yes


    • XL430-W250-T Servos
    • 12v5a Power Supply
    • Parallel Gripper Kit
    • Tools / Bolts
    • x8
    • x1
    • x1
    • x1
    • x1

    DYNAMIXEL XL430-W250-T

    • MCU
    • Position Sensor
    • Motor
    • Baud Rate
    • Control Algorithm
    • Resolution
    • Backlash
    • Gear Ratio
    • Stall Torque
    • No Load Speed
    • ARM CORTEX-M3 (72 [MHz], 32Bit)
    • Contactless absolute encoder (12Bit, 360 [°])
    • Cored
    • 9,600 [bps] ~ 4.5 [Mbps]
    • PID control
    • 4096 [pulse/rev]
    • Not Measured
    • 258.5 : 1
    • 1.5 [N.m] (at 12.0 [V], 1.4 [A])
    • 61 [rev/min] (at 12.0 [V])