PincherX 100 Mobile Robot Arm with adapters

The PincherX 100 Robot Arm was designed with educational and research purposes in mind, and is compatible with various software tools such as ROS (Melodic & Noetic), Moveit, Gazebo, and MATLAB®. What's more, the robot arm comes with instructional videos and demos to help users quickly set up and use the platform. With a payload capacity of 50 g and 4 degrees of freedom, the PincherX 100 is an excellent fit for vision-based pick & place, machine learning, and AI applications. In addition, the XSeries arms have a shared open-source code repository, which simplifies applying concepts and skills from one platform to another. It's a great asset to research labs and classrooms.

The PincherX 100 Robot Arm comes fully tested and assembled, made from sturdy materials, including rigid 1/8"P95 acrylic and heat-resistant, high-strength ABS 3D printed components. The arm is mounted on a 7/8" needle roller bearing for stability. To protect the electronics against damage and debris,they’re covered with a transparent acrylic shield.

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

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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])

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See the integration manual in the Leo Rover Knowledge Base

www.leorover.tech/integrations/pincherx-100-mobile

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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