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  • PincherX 150 Robot Arm
  • PincherX 150 Robot Arm - KIT-PINX150
  • PincherX 150 Robot Arm - KIT-PINX150
  • PincherX 150 Robot Arm - KIT-PINX150
  • PincherX 150 Robot Arm - KIT-PINX150
PincherX 150 Robot Arm

PincherX 150 Robot Arm

Item #: KIT-PINX150
Price: $1,049.95 In Stock

    Specifications

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

    Software Features

    OverviewSoftwareImage1

    Hardware Features

    The PincherX 150 Robot Arm is made for education and research with support for ROS (Melodic & Noetic), Moveit, Gazebo and MATLAB® as well as demos and instructional videos to help get you up and running with your platform in under an hour. The PincherX 150 offers 5 degrees of freedom and a payload capacity of 50g. The XSeries arms operate on the same central open-source code repository making it easy to transfer concepts from one platform to another. Perfect for the classroom, the PincherX 150 is ideal for applications such as vision-based pick & place, machine learning and artificial intelligence.

    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.

    OPEN SOURCE DEMOS

    • 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 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 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 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.

    • 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 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.

    • 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 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 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.

    • Arm Puppeteering

      Imagine that you have two (or more) Interbotix arms with the same number of joints. What the xsarm_puppet allows you to do is to manually manipulate one of the arms and watch as the motion is repeated in real time on the second robot.

    • Record and Playback

      Untorque your arm and record manual movements to a ROS bag file. Play back the same motions as many times as you want.

    • 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.

    Software

    SoftwareImage1

    Packages for ROS (Melodic & Noetic) and ROS2 (Galactic, Humble & Rolling) make it easy to get started with the arm. These packages include full meshes and URDFs (including accurate inertial models for the links), a driver node to control the physical robot arm and publish joint states, as well as simulation (Gazebo) and motion planning (MoveIt) support. Several example packages are also included to demonstrate potential uses of the core packages.

    SoftwareImage2

    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.

    SoftwareImage3

    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.

    SoftwareImage4

    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.

    SoftwareImage5

    The Python-ROS and MATLAB®-ROS APIs sit above the ROS layer so that even if you are not familiar with ROS, you can still control the arm for your application. Both APIs share the same functionality, allowing you to interact with the arms’ kinematics, timing parameters, and operating modes, and more.

    Hardware

    HardwareImage1

    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.

    HardwareImage2

    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.

    HardwareImage3

    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.

    HardwareImage4

    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.

    HardwareImage5

    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.


    Packages

    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.

    PackagesImage1

    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.

    PackagesImage2

    Specifications

    PincherX 150

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

    Includes:

    • XL430-W250-T Servos
    • DYNAMIXEL U2D2
    • 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])

    Drawings

    DrawingsArea1

    Documentation