Manipulators

MobileRobots offers several high quality mobile manipulation options at different scales and capabilities, as well as stand alone non-mobile "tabletop" manipulators.

Arms for Pioneer, PatrolBot and PeopleBot
Pioneer Gripper

Modular PowerCube arm for PowerBot

Industrial Manipulators

Pioneer Robot Arms

Cyton 2 Premium P-Series Robot Arm

Small multi-DOF arms on mobile robots offer exciting mobile manipulation challenges for researchers. The Cyton 2 premium 7-DOF-plus-gripper arm is available for Pioneer 3-DX, Pioneer 3-AT, PatrolBot, as well as PeopleBot and GuiaBot (with some restrictions depeding on mounting location). All axes are completely independent yet can be controlled simultaneously using the included Actin control software. Pitching axes have integrated load balancing springs. All joints have ball bearing support. Spin joints have additional planetary bearings.

Arm Specifications

Joint axes: 7

Gripper: 1 linear axis

Gripper opening: 3.25 cm

Rated Payload: 1.0 kilograms
Rated Speed: 0.4 m/s
Joint Speed: 75 rpm
Height: 58.5 cm
Reach: 43.3 cm
Repeatability: 0.1 cm

Hardware Interface: USB to onboard or offboard computer, plus power (supplied by robot)

Software

C++ interface library for Linux (GCC) and Windows
Actin application software for Linux and Windows with inverse kinematics, 3D Visualization GUI, record (train) mode, and more.

Joint Name/Type: Joint Limit
Shoulder Base/revolute: 300°
Shoulder Pitch/revolute: 180°
Shoulder Yaw/revolute: 300°
Elbow Pitch/revolute: 240°
Wrist Roll/revolute: 300°
Wrist Yaw/revolute: 200°
Wrist Pitch/revolute: 200°

Available For:

Cyton Veta Affordable P-Series Robot Arm

The Cyton Veta arm offers a more affordable P-series manipulator with reduced payload and other capability. affordable p-series arm

Arm Specifications

Rated Payload: 300 grams

Rated speed: 0.4 m/s

Joint speed: 75 rpm

Height: 57 cm

Reach: 48 cm

Repeatability: +/- 0.3 cm

Gripper opening: 3.25 cm
Hardware interface: USB t o onboard or offboard computer, plus power (supplied by robot)

Software

C++ interface library for Linux (GCC) and Windows
Actin application software for Linux and Windows with inverse kinematics, 3D Visualization GUI, record (train) mode, and more

Available For:

Pioneer Gripper

gripper The Pioneer/PeopleBot Gripper is a strong, reliable 2-axis, 2 degree-of-freedom (dof) robotic manipulator and sensor. Driven by a two, reversible DC servo-motors under control of the Pioneer microcontroller, the gripper operates in open or closed state hotizontally. Front and rear break beams between the paddles indicate when an object is in grip position. In its fully down and open state, the two 1.5 inch (3cm) tall by 3.5 inch (9.5cm) deep P2 Gripper paddles, each with 2mm soft-foam pads on the inside, are 8.4 inches (21.5cm) apart and ride 1.2 inches (2.4cm) off the floor with the Pioneer 2-DX or just 0.25" (1 cm) off the floor with the AT. The paddles extend out from the Pioneer 2's main body 5 inches (11.25cm) beyond the Console edge.

The gripper paddles close together horizontally until they grasp an object or close on themselves. The grasping pressure is under software control, and varies between 0.5 lbs (170g) and 5 lbs (1.7kg). Under independent control and drive, the gripper's lift mechanism rises 4 inches (9 cm) and can lift objects weighing up to 5.5 lbs (2.5kg).

Available On:

Pioneer 3-DX
Pioneer 3-AT
PeopleBot (with additional vertical axis on robot upright structure)

Key Features

Nose mounted 2-axis arm allows grippers to handle objects 1 to 21.5 cm wide
2 degree-of-freedom gripper provides sturdy, low maintenance handling
Twin break beams between gripper paddles provide accurate positioning information
Bump sensors inside each gripper provide allow software pressure controls
Good response time of 3 seconds from fully open to fully closed position
Strong 5.5 lbs. (2.5kg) lift capacity
Vertical 4-in (9cm) rise allow object to be raised high or just above the floor to avoid blocking robot sonar

CONSTRUCTION: anodized, CNC fabricated, and painted aluminum, with foam-covered gripper paddles

Gripper Specifications
MOTION: 2-axiz--horizontal and vertical--with 1 degree of freedom
POWER: +5 and +12 VDC supplied by Pioneer robot
DIMENSIONS: 10.5" x 2" x 1.75" (25.5 cm x 4.4 cm x 3.5 cm)
LIFT WIDTH: Grippers part to 9" (19.2 cm)
LIFT HEIGHT: Two vertical stops: one about 3/4 inch off the ground ( so tall objects won't block robot sonar) and one at the top of the gripper
PAYLOAD: 5.5 lb (2.5 kg) lift capability, lateral pressure software controlled

SENSORS: Front and rear break beams between gripper paddles; Pressure sensors inside each gripper paddle
SPEED: 3 seconds from fully open to fully closed position.

Available For:

Pioneer 3-DX (without front bumpers)
Pioneer 3-AT (without front bumpers)
PeopleBot, with an additional vertical axis between upper-platform structs, for accessing objects on table tops.

PowerCube Arm for PowerBot

This industrial-quality modular arm is applicable for indoor applications or research. Its 6 degrees of freedom plus gripper can lift up to 2 kg. Driven by seven reversible 24V DC motors, the arm can reach up to .8 m from the center of its rotating base to the tip of its closed gripper. This lets PowerBot pick up an object from the floor and set it on a table while viewing through the gripper tip Firewire Camera. All joints, except for gripper fingers, pivot or rotate ± 160°or more. Robot top plate or accessories may reduce potential motion in some directions.

When mounted on a Powerbot:

6-axis arm
6 degrees of freedom, plus gripper options
02 degrees repeatability per joint
Total arm repeatability error: 1mm at fingers
Optional Firewire Camera for gripper tip view
CanBUS interface with onboard computer (drivers and software libraries included and preinstalled)

Arm Specifications
REACH: forward 80 cm, floor 51 cm,vert. from top plate: 77 cm, floor: 121 cm CONSTRUCTION: anodized, machined aluminum 
MOTORS: Closed loop DC servo motors 
MOTION: 6 dof arm and 1 dof gripper  
POWER: +24 VDC at 20-80 amps 
GRIPPER RANGE: Grippers part to 6 cm, grasp may be larger,depending upon finger shape 
PAYLOAD: 2 kg (4.5 lb) lift capability
SPEED: 1 second from fully extended to fully relaxed, 150° + per second in each joint 
SOFTWARE: includes arm driver and C++ library for Linux or Windows. Available with PowerBot only; not sold separately

Adept Non-mobile Manipulators

Research Applications: Manipulation, Perception, Grasping, Kinematics, Ambidextrous Manipulation, Human-Robot Controls, Industrial Applications, End-effector/tooling design, and more

Now you can use the same Viper s650, Cobra s600 or Cobra i600 industrial arms, controls and software used by Adept's major industrial customers around the world, for research and teaching.