WidowX 200 Mobile Robot Arm

The Mobile WidowX 200 Robot is identical to the WidowX 200 but has a smaller form factor base making it easy to mount on a mobile platform, such as the Turtlebot. The mobile WidowX 200 does not come with CM9.04c or a 12v5a power supply. All of the X-Series arms can be modified with the lower profile base. The arm features 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 XM-430-W350T & 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. The WidowX 200 offers 5 degree of freedom and a full 360 degree of rotation.

Hardware Overview

Software Control

	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 WidowX 200 comes fully assembled and tested and is constructed from extremely rigid 20mm x 20mm extruded aluminum and 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 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 it 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.

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 Each of the X-Series arms* features an industrial quality, 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. * Pincher 100 comes with roller bearing base Product Features: XM430-W350T & XL430-W250-T Servos Industrial Bearing Base Aluminum Construction Gripper with Interchangeable Fingers 5 DOF Includes: 5x XM430-W350-T Actuators 2x XL430-W250-T Actuators 1x USB2 Micro Cable WidowX 200 Hardware & Frames Extra Gripper Foam / Rubber Drivers / Extra Hardware Base Mount Hardware WidowX 200 Arm Degrees of Freedom 5 Reach 550mm Total Span 1100mm Accuracy 1mm Working Payload 200g Total Servos 7 Wrist Rotate Yes WidowX 200 Reach Span 110cm Reach 55cm XM430 DYNAMIXEL servos support up to 360 degrees of rotation, which results in an extraordinary range of motion. The WidowX 200 Robot Arm has a 55cm horizontal reach from center of the base to gripper with a total span of 110cm. The working payload for the WidowX 200 arm is 200g. 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 WidowX 200 can lift more than 200g, we do not recommend payloads over this number. Documentation: DYNAMIXEL SDK ROBOTIS OpenCM OpenCM E-Manual OpenCM IDE XL430-W250-T Manual XM430-W350-T Manual Technical Drawing Firmware (Alpha) ROS Overview Legacy ROS Overview (No longer supported) Mesh / STL Files