- Five degrees of freedom
- Support for the Robot Operating System
- Reach of 450 millimeters
- Payload of 50 grams
The Pincherx 150 Robotic Arm belongs to a new family of arms from Interbotix, featuring the DYNAMIXEL X Series Smart Servo Motors. These actuators offer higher torque, more efficient heat dissipation and better durability, all at a smaller form factor than previous DYNAMIXEL servos. The DYNAMIXEL XL430 W250 T servos offer high resolution of 4096 positions and user definable PID parameters. Temperature monitoring, positional feedback, voltage levels, load, and compliance settings are all user accessible. 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 five degrees of freedom and a 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 150 arm. These packages include full meshes and URDFs (including accurate inertial models for the links), driver nodes that 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 150 Robotic Arm has a 45cm horizontal reach from the center of the base to the gripper, with a total span of 90cm. The working payload for the PincherX 150 arm is 50g. This 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 150 can lift more than 50g, it is not recommended to exceed this payload.
