Specifications
Shoulder Yaw:
Shoulder Pitch:
Shoulder Roll:
Elbow Joint:
Wrist Yaw:
Wrist Pitch:
Wrist Roll: |
4-dof
300°
225°
315°
230°
–
–
– |
7-dof
300°
225°
315°
230°
350°
180°
344° |
| Mechanisms |
Mechanical transmissions based on advanced, patented high-speed cable transmissions and patented zero-backlash, low-friction, cabled differentials. |
| Mechanical Stiffness |
1.5E6 N/m |
1.5E6 N/m |
| Payload |
4 kg |
3 kg |
| Reach (w/ hand or gripper tool) |
1000 mm |
1000 mm |
| Work Volume |
3.5 m3 |
3.5 m3 |
| Agility Index* (avg. joint mobility in radians raised to the # of dofs) |
466 |
44,000 |
|
3 m/s |
3 m/s |
| Peak Accel. (at endtip with 1-kg load) |
30 m/s2 |
20 m/s2 |
| Repeatability |
1000 µm
100 µm** |
2000 µm
200 µm** |
| Weight |
| Entire Assembly |
25 kg |
27 kg |
| Arm beyond shoulder |
3.3 kg |
5.8 kg |
| Size |
| Footprint |
0.1 m2 |
| Base Height |
160 mm |
| Motors |
Neodymium-iron, brushless motors with Pucks providing high-performance space-vector-commutated current amplifier/control |
| High-Level Interface |
High-speed network cable (Ethernet and CANbus) and (Ethernet) wireless |
| High-Level Cartesian Control (Trajectory and/or Force) |
500 Hz |
500 Hz |
| Low-Level Joint-Torque Resolution |
14-bits
|
14-bits
|
| Lower-Level Position Feedback |
| Type |
12-bit digital motor position feedback
18-20-bit** joint position feedback |
| Minimum Joint Resolution |
0.005°
0.001** |
0.008°
N/A** |
Power Requirement
(AC Operation)
|
100-240 vac 1Φ 50-60 Hz @ 60 watts minimum |
Mobile
(DCN Operation)
|
24-80 vdc @ 50 watts minimum |
| Amplifier Cabinet + Controller PC*** |
| Weight |
0 kg |
0 kg |
| Depth |
0 mm |
0 mm |
| Height |
0 mm |
0 mm |
| Arm Cabinet |
0 mm |
0 mm |
| Tether Length |
0 m |
0 m |
*The agility index presumes adherence to optimal kinematics, defined as
- 3 axes intersecting at right angles at the shoulder;
- 3 axes intersecting at right angles at the wrist as close as possible to the grasp center; and
- 1 elbow axis at the midpoint between the shoulder and grasp center.
**For high-precision operation, a special, custom version of the WAM may be ordered with precision (metrology-level) joint encoders integrated into all 4 joints of the 4-dof WAM.
***The zero values dramatize the point that Puck electronics eliminate the need for any external amplifier cabinet. In addition, a PC is incorporated into the base of the WAM, complete with its own video monitor and USB-keyboard jacks. DC power (24-80 vdc native) operation for mobile applications requires no external power supply. A simple laptop-sized power supply is included with every WAM for AC operation in any country. In addition to the embedded-PC jacks, users can control the PC remotely via either standard wired or wireless Ethernet. Users may also circumvent the internal PC and use their own realtime PC with opto-isolated CANbus card to communicate via CANbus with the motor Pucks™ in the WAM. Barrett will support users in setting up their own PC if the system is still under warranty or extended warranty. Alternatively, for a modest fee Barrett will supply a properly configured and tested realtime external PC with opto-isolated CANbus card. The advantage is that the user can add PCI cards (e.g. for machine vision) so that all realtime actions are handled under a single PC.
