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Specifications
4-DOF CAD Models
4-DOF WAM with 282 Hand & F-T Sensor
7-DOF CAD Models
7-DOF WAM with 282 Hand & F-T Sensor
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The worlds “most advanced” robot
The WAM® Arm is a highly dexterous, naturally backdrivable manipulator. The only arm sold in the world with direct-drive capability supported by Transparent Dynamics™ between the motors and joints, so its control of contact forces is robust—independent of mechanical force or torque sensors. It is built to outperform conventional robots with unmatched human-like grace and dexterity.
MODULARITY
The WAM® Arm is available in two main configurations, 4-degree-of-freedom and 7-degree-of-freedom, both with human-like kinematics. The joint ranges exceed those for conventional robotic arms.
HIGHER PERFORMANCE THAN CONVENTIONAL MANIPULATORS
Matching advanced electronics with inherently backdrivable cable drives results in superbly graceful motions. Barrett owns the technology for the highest performance servo-electronics available in the world today. These electronics are also the smallest (43 grams) and most power-efficient servo-drive electronics available today.
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Features
Lightweight design-
Reduced inertia for smooth and quick motion.
Compact, small footprint-
Efficient use of space; adaptable to mobile platforms and various applications.
Long and slender links-
Allows for dexterous movement around obstacles with ease.
Back-drivability-
Extends force control along entire surfaces of joints throughout links.
Kinematic redundancy-
Unusually high dexterity in either 4 or 7 degree-of-freedom configurations.
Human-like kinematics-
Arm links form grasps around large objects (~1 m).
270-degree average joint mobility-
Enhances dexterity and agility beyond human capability.
Zero-backlash and near-zero friction-
Extraordinarily graceful motion with nearly frictionless cable drives.
Modular construction-
Interchangeable and upgradeable components for custom applications.
Brushless rare-earth motors-
High torque, low mass, lower rotor inertia, servo motors with vacuum compatibility.
Open control architecture-
Excellent research tool; direct access to sinusoidally commutated current amplifiers for developing advanced control algorithm.
P4-37 Motor Controllers-
Incredibly smooth output with patented dual iSense current control from Barrett’s P4-37 Motor Controllers.
Planning and manipulation
Learning and gameplay
Haptics and teleoperation
System components
1 - Modular Outer Link
2 - Barrett Arm
3 - Ethernet Cable
4 - DC Power Cable
5 - Power Supply with Line Cord
6 - Pendants
7 - Maintenance Kit
WAM Configurations
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Ready for more speed? The High Speed WAM upgrades may be just what you need-
High Speed WAM - up to 5 m/s (~11 mph)
Ultra High Speed WAM - up to 15 m/s (~33.5 mph)
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Need an extra boost of Power? The High Payload WAM configuration upgrades the max payload-
4-DOF → 8 kg
7-DOF → 6 kg
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Looking for endpoint precision? The High Precision WAM has what you need-
4-DOF → 100 um precision
7-DOF → 200 um precision
