Manipulators


PowerBot Arm

available with powerbot, not sold seperatelyThis industrial-quality device, with forward and inverse kinematics software, 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 TM 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.

 

As mounted on a Powerbot:

  • 6-axis arm
  • 6 degrees of freedom, plus gripper options
  • 2 degrees repeatability per joint
  • Total arm repeatability error: 1mm at fingers
  • Optional Firewire Camera for gripper tip view
  • CanBUS compatible

Arm Specifications
REACH: forward 80 cm, floor 51 cm,vert. from top plate: 77 cm, floor: 121 cm (see drawing)

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 software for Linux or Windows and forward and inverse kinematics calculations. Available with PowerBot only; not sold separately

Outdoor Robot Arm

outdoor robot armThe Outdoor Arm for Seekur or Seekur Jr is a 5-degree-of-freedom, all electric manipulator with an electric gripper. The Outdoor Arm has an 3.5lb(1.6kg) lift capacity throughout its full envelope. The Outdoor Arm uses  the same interface and software as the Powerbot arm.



Specifications:
Lift: 3.5 lbs  (1.6kg) at full extension, 6.6lb (3kg) without gripper, more than 1000mm total length with gripper. Arm is IP67 rated, end effector is IP20 rated. Available on Seekur and Seekur Jr. Inquire for use on Powerbot.

PREMIUM P-SERIES ROBOT ARM with optional gripper

premium p-series robot armHuman-like arms offer exciting challenges for researchers, including object detection, perception, guidance and manipulation. The Cyton premium 7-DOF-plus-gripper arm is available for Pioneer, PatrolBot, as well as PeopleBot and GuiaBot (with some restrictions). All axes are completely independent yet can be controlled simultaneously using the included Actin control software.

    

Arm Specifications

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
Control Software: XML configurable
Actin-Cyton application software with 3D Visualization/Reasoning GUI

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°

Affordable P-Series Robot Arm with optional gripper

affordable p-series armMounted on a Pioneer, PatrolBot (also available for PeopleBot and GuiaBot with some restrictions) and combined with Actin 3D visualization, reasoning, and control software, the Cyton II arm outperforms most others in its class for payload. It can reach a soda can on the floor. Electronics include a 32-Channel servo controller with 24 free channels for adding end effectors and other peripherals. Actuators are high quality PMDC servo motors with integral gear reduction. All axes completely independent and can be controlled simultaneously.

Arm Specifications
Rated Payload: 250 grams
Rated speed: 0.2 m/s
Joint speed: 60 rpm
Height: 60 cm
Reach: 48 cm
Repeatability: 0.23 cm
Gripper opening: 3.25 cm
Hardware interface: USB
Control Software: XML configurable

Gripper

gripperThe 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).


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
  • Compatible with Pioneer PTZ Camera Systems and other Pioneer accessories except for Front Bumpers.

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.