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Price: $2,095.95 Discontinued notify me

    Specifications

    • Degrees of Freedom
    • Reach
    • Span
    • Repeatability
    • Working Payload
    • Weight
    • 5
    • 550mm
    • 1100mm
    • 1mm
    • 200g
    • 5lbs

    Software Features

    Hardware Features

    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



    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 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 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 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.






    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

    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


    360 WORKSPACE
    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:


    Software

    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 ViperX 300 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.

    Hardware

    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.


    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.

    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.

    Specifications

    WidowX 200 Mobile

    • Degrees of Freedom
    • Reach
    • Span
    • Repeatability
    • Working Payload
    • Total Servos
    • Wrist Rotate
    • 5
    • 550mm
    • 1100mm
    • 1mm
    • 200g
    • 7
    • Yes

    Includes:

    • XM430-W350-T Servos
    • XL430-W250-T Servos
    • Parallel Gripper Kit
    • Tools / Bolts
    • x5
    • x2
    • x1
    • x1
    • x1

    DYNAMIXEL XM430-W350-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 [�])
    • Coreless
    • 9,600 [bps] ~ 4.5 [Mbps]
    • PID control
    • 4096 [pulse/rev]
    • 15 [arcmin] (0.25 [�])
    • 353.5 : 1
    • 4.1 [N.m] (at 12.0 [V], 2.3 [A])
    • 46 [rev/min] (at 12.0 [V])

    DYNAMIXEL XL430-W250-T

    • MCU
    • Position Sensor
    • Motor
    • Baud Rate
    • Control Algorithm
    • Resolution
    • Weight
    • 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]
    • 57.2 [g]
    • 258.5 : 1
    • 1.5 [N.m] (at 12.0 [V], 1.4 [A])
    • 61 [rev/min] (at 12.0 [V])

    Drawings