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PincherX 100 Mobile Robot Arm with adapters



The PincherX 100 Robot Arm is made for education and research with support for ROS (Melodic & Noetic), Moveit, Gazebo and MATLAB® as well as demos and instructional videos to help get you up and running with your platform in under an hour. The PincherX 100 offers 4 degrees of freedom and a payload capacity of 50g. The XSeries arms operate on the same central open-source code repository making it easy to transfer concepts from one platform to another. Perfect for the classroom, the PincherX 100 is ideal for applications such as vision-based pick & place, machine learning and artificial intelligence.

The PincherX 100 comes fully tested and assembled and is constructed from rigid 1/8" P95 acrylic and heat resistant high strength ABS 3D printed materials. The arm sits on a 7/8" needle roller bearing for added stability. 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.

This version of the Arm comes with a dedicated mounting plate and cable adapters included, so you can easily put it on top of Leo Rover.

PincherX 100 Robotic Arm specification

  • Degrees of freedom - 4
  • Weight - 770 g
  • Reach - 300 mm
  • Span - 600 mm
  • Repeatability - 5 mm
  • Working payload - 50 g

Built on DYNAMIXEL XL430-W250-T servos

  • MCU - ARM CORTEX-M3 (72 [MHz], 32Bit)
  • Position sensor - Contactless absolute encoder (12Bit, 360 [°])
  • Motor - Cored
  • Baud rate - 9,600 [bps] ~ 4.5 [Mbps]
  • Control algorithm - PID control
  • Resolution - 4096 [pulse/rev]
  • Gear ratio - 258.5 : 1
  • Stall torque - 1.5 [N.m] (at 12.0 [V], 1.4 [A])
  • No load speed - 61 [rev/min] (at 12.0 [V])

See the integration manual in the Leo Rover Knowledge Base


Official Trossen Robotics repositories:

Github - https://github.com/Interbotix/interbotix_ros_manipulators/tree/main/interbotix_ros_xsarms

Documentation - https://www.trossenrobotics.com/docs/interbotix_xsarms/index.html

STEP file - https://www.trossenrobotics.com/Shared/XSeries/1_PXA-100-A.zip

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