PincherX 150 Robot Arm

• 5 Degrees of Freedom
• ROS Support
• 450mm Reach
• 50g Payload

The PincherX 150 Robot Arm belongs to a new family of arms from Interbotix featuring the DYNAMIXEL X-Series Smart Servo Motors. 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 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. At the heart of the PincherX 150 is the Robotis DYNAMIXEL U2D2 which enables easy access to DYNAMIXEL Wizard software as well as ROS. The PincherX 150 offers 5 degree of freedom and a full 360 degree of rotation.

ROS packages for Kinetic and Melodic on Ubuntu Linux 16.04 and 18.04 make it easy to get started with the PincherX 150 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.

The PincherX 150 Robot Arm has a 45cm horizontal reach from center of the base to gripper with a total span of 90cm. The working payload for the PincherX 150 arm is 50g. 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 PincherX 150 can lift more than 50g, we do not recommend payloads over this number.