Trossen Robotics PincherX 150 Robot Arm

The X-Series arms are currently hardware only platforms intended for users who have their own software and / or control solution. The CM9.04-C controller provided does not come with firmware.

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 Open CM9.04-C open-source controller running on a 32bit ARM Coretex-M3. The PincherX 150 offers 5 degree of freedom and a full 360 degree of rotation.

HIGH PERFORMANCE DYNAMIXEL SERVOS

The PincherX 150 comes fully assembled and tested and is constructed from extremely rigid 20mm x 20mm extruded aluminum and heat resistant high strength ABS 3D printed materials. The arm sits on an industrial grade,slewing bearing for added stability and accuracy. 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.

PRINT CUSTOM GRIPPER

The X-Series gripper carriages are designed for users to quickly and easily change the gripper fingers for different projects. CAD files for the gripper are available for download, if you can design and 3D print, the customization is endless. Included with the arm are sticker backed foam and sorbothane rubber both increase gripping strength while relieving stress on the gripper servo.

CM9.04-C MICROCONTROLLER

The onboard OpenCM9.04-C can be programmed using the free ROBOTIS OpenCM software, an easy to use Integrated development environment (IDE) based on the Arduino IDE. The OpenbCM9.04-C can be be powered and programmed over USB however servos cannot be powered through the USB connection and must be powered separately.

EXTRUDED ALUMINUM

All of the X-Series arms are constructed using extremely ridged, lightweight T-slot extruded aluminum. All of the X-Series Arms come with a 90 degree elbow design allowing for a greater range of movement and the ability to fold completely on itself. All 3D printed brackets are heat resistant, high strength ABS plastic.

INDUSTRIAL GRADE BEARING

Each of the X-Series arms* features an industrial quality, high grade slewing bearing base as the central mounting point. The bearing ensures maximum rigidity and accuracy and takes all strain of the base servo increasing the longevity of the arms.
* Pincher 100 comes with roller bearing base

SPECIFICATIONS

ReactorX 100 Reach

XL430 DYNAMIXEL servos support up to 360 degrees of rotation, which results in an extraordinary range of motion. The PincherX 100 Robot Arm has a 30cm horizontal reach from center of the base to gripper with a total span of 60cm. The working payload for the PincherX 100 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 100 can lift more than 50g, we do not recommend payloads over this number.

MOUNTING HARDWARE

The base comes with mounting holes and thumbscrews / pem nuts to secure the arm easily to most any surface, wood screws are also an option for a more permanent mounting solution.