- Four degrees of freedom
- Support for the Robot Operating System (ROS)
- Reach of 300 millimeters
- Payload of 50 grams
The Pincherx 100 Robotic Arm belongs to a new family of arms from Interbotix, featuring the DYNAMIXEL X Series Smart Servo Motors. These X Series actuators offer higher torque, more efficient heat dissipation and improved durability, all in a smaller form factor than previous DYNAMIXEL servos. The DYNAMIXEL XL430 W250 T servos provide high resolution of 4096 positions, as well as user definable PID parameters. Temperature monitoring, positional feedback, voltage levels, load, and compliance settings are all accessible to the user. At the core of the PincherX 100 is the Robotis DYNAMIXEL U2D2, which enables easy access to the DYNAMIXEL Wizard software and ROS. The PincherX 100 offers five degrees of freedom and full 360 degree rotation.
ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy for users to get started with the PincherX 100 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 gazebo and moveit support. Examples are also included to demonstrate how the core packages work.
The PincherX 100 Robotic Arm has a 30 cm horizontal reach from the center of the base to the gripper, with a total span of 60 cm. The working payload for the PincherX 100 arm is 50 g. The working payload is the weight that the arm should not exceed under normal working circumstances, and is measured by the arms ability to repeatedly lift an object at roughly half extension without failure. While the PincherX 100 can lift more than 50 g, it is not recommended to exceed this number.
