Item #: IL-XM430GRIPPER-T
Availability: Back Order
Price: $749.95
    Servos:


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    The InterbotiX XM430 Viper Gripper is a two rail, two servo parallel gripper based around the DYNAMIXEL XM430 servos from Robotis. The servos offer a high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback as well as voltage levels, load and compliance settings are all user accessible. This is the same gripper as is offered on the ViperX 300 Robotic Arm.

    The gripper offers a default 86mm (without gripper padding) opening (116mm center to center carriages) and interchangeable gripper fingers for users to 3D print their own gripper designs. The gripper comes standard with wrist rotate servo and mounting brackets (see pictures). 

    The gripper is offered in two versions, the TTL (DYNAMIXEL XM430-W350T) and RS485 (DYNAMIXEL XM430-W350R).

    The gripper weighs roughly 435 grams and measures 17cm from the tip of the gripper to the back of the last servo (the brackets shown are not part of the length measurement) and  15cm wide. 

    Includes:

    2x XM430-W350 servos

    Gripper hardware

    Self adhering foam and sorbothane 



    DYNAMIXEL XM430-W350-T
    Model Number XM430-W350-T
    Weight (g) 82g
    Dimensions (mm) 28.5mm x 46.5mm x 34mm
    Gear Ratio 353.5 : 1
    Operation Voltage (V) 11.1 12 14.8
    Stall Torque (N.m) 3.8 4.1 4.8
    Stall Current (A) 2.1 2.3 2.6
    No Load Speed (RPM) 43 46 57
    MCU ST CORTEX-M3 (STM32F103C8 @ 72MHZ,32BIT)
    Position Sensor Contactless absolute encoder (12BIT,360°) by AMS
    Motor Coreless Motor
    Resolution 0.088° x 4,096
    Operating Range Position Control Mode : 360°
    Velocity Control Mode : Endless turn
    Input Voltage (V) 10~14.8V (Recommended voltage : 12V)
    Operating Temperature (°C) -5°C ~ 80°C
    Command Signal Digital Packet
    Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop, No Parity)
    Link (physical) TTL Level Multi Drop Bus
    ID 253 ID (0~252)
    Baud Rate 9600 bps ~ 4.5 Mbps
    Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
    Material Case : Metal (Front, Middle)
    Engineering Plastic (Back)
    Gear : Full Metal
    Standby current 40 mA

    DYNAMIXEL XM430-W350-R
    Model Number XM430-W350-R
    Weight 82g
    Dimension 28.5mm x 46.5mm x 34mm
    Gear Ratio 353.5 : 1
    Operation Voltage (V) 11.1 12 14.8
    Stall Torque (N.m) 3.8 4.1 4.8
    Stall Current (A) 2.1 2.3 2.6
    No Load Speed (RPM) 43 46 57
    MCU ST CORTEX-M3 ( STM32F103C8 @ 72MHZ, 32BIT)
    Position Sensor Contactless absolute encoder (12bit, 360degree) by AMS
    Motor Coreless Motor
    Resolution Approx. 0.088° x 4,096
    Operation Range Position Control Mode : 360° Extended Position Control Mode : 512 turns Velocity Control Mode : Endless turn
    Operation Voltage 10~14.8V (Recommended voltage : 12V)
    Operating Temperature -5°C ~ 80°C
    Command Signal Digital Packet
    Protocol Type RS485 Asynchronous Serial Communication (8bit, 1stop, No Parity)
    Link (physical) RS485 Multi Drop Bus (daisy chain type connector)
    ID 253 ID (0~252)
    Baud Rate 9600 bps ~ 4.5 Mbps
    Feedback Position, Velocity, Current, Realtime tick, Trajectory, Temperature, Input Voltage, etc.
    Material Case : Metal (Front, Middle)
    Engineering Plastic (Back)
    Gear : Full Metal
    Standby current 40 mA


    Documentation: