Specifications

This section details the technical specifications of Interbotix X-Series Arms.

In-Depth Specifications

This section provides links to each of the X-Series Arms’ more detailed specifications.

• PincherX-100
• PincherX-150
• ReactorX-150
• ReactorX-200
• WidowX-200
• WidowX-250
• WidowX-250 6DOF
• ALOHA WidowX-250 6DOF
• ViperX-250
• ViperX-300
• ViperX-300 6DOF
• ALOHA ViperX-300 6DOF

Hardware

ROBOTIS U2D2

The U2D2 controller is a USB to TTL converter that allows for the control of DYNAMIXEL servos using a computer.

See the U2D2 e-Manual page for more information.

Power Hub Board

The 6 Port, 3 Pin XM/XL Power Hub allows you to split the DYNAMIXEL daisy chain into 5 separate chains while providing power to all of them. It has the additional benefit of having both a 2.1x5.5mm female barrel jack and screw terminals.

See the Trossen Robotics Power Hub Store Page for more information.

Arm Reach

Reach - Total Length (mm)

	B	C	D	E	F
	Elbow Joint	Wrist Tilt Joint	Wrist Rotate	Gripper Rail	Finger Tip
PincherX-100	106	206	N/A	292	335
PincherX-150	158	308	373	439	482
ReactorX-150	158	308	373	439	482
ReactorX-200	206	406	471	537	580
WidowX-200	206	406	471	537	580
WidowX-250	255	505	570	636	679
WidowX-250 6DOF	255	505	570	636	679
ViperX-250	257	507	577	643	706
ViperX-300	306	606	676	742	810
ViperX-300 6DOF	306	606	676	745	812

Reach - Section Length (mm)

	A~B	B~C	C~D	D~E	E~F
	Upper Arm	Forearm	Wrist Tilt to Rotate	Gripper (to Rail)	Finger Tip
PincherX-100	106	100	0	86	43
PincherX-150	158	150	65	66	43
ReactorX-150	158	150	65	66	43
ReactorX-200	206	200	65	66	43
WidowX-200	206	200	65	66	43
WidowX-250	255	250	65	66	43
WidowX-250 6DOF	255	250	65	66	43
ViperX-250	257	250	70	66	63
ViperX-300	306	300	70	66	68
ViperX-300 6DOF	306	300	70	69	68

Workspace

Arm Workspace & Span (mm) Arm Recommended Workspace Total Span PincherX-100 420 600 PincherX-150 630 900 ReactorX-150 630 900 ReactorX-200 770 1100 WidowX-200 770 1100 WidowX-250 910 1300 WidowX-250 6DOF 910 1300 ViperX-250 910 1300 ViperX-300 1050 1500 ViperX-300 6DOF 1050 1500

Note

Recommended Workspace is defined as 70% of total span of the arm.

Working Payload

Working Payload (g) Arm Working Payload PincherX-100 50 PincherX-150 50 ReactorX-150 100 ReactorX-200 150 WidowX-200 200 WidowX-250 250 WidowX-250 6DOF 250 ViperX-250 450 ViperX-300 750 ViperX-300 6DOF 750

Note

The working payload for each arm is the maximum weight we recommend for periods of repeated movement inside of your recommended workspace. When operating for longer periods of time, ‘rest’ poses should be incorporated to prevent servos from overheating. In all situations you should be operating at or below the working payload for your model of arm.

Linkage Dimensions

Offsets & True Upper Arm Length (mm)   A B C D E   Upper Arm Elbow Offset True Upper Arm Length Forearm Offset Angle PincherX-100 100 35 106 100 19.3° PincherX-150 150 50 158 150 18.4° ReactorX-150 150 50 158 150 18.4° ReactorX-200 200 50 206 200 14.0° WidowX-200 200 50 206 200 14.0° WidowX-250 250 50 255 250 11.3° WidowX-250 6DOF 250 50 255 250 11.3° ViperX-250 250 60 257 250 13.5° ViperX-300 300 60 306 300 11.3° ViperX-300 6DOF 300 60 306 300 11.3°

Gripper Min / Max

Gripper Min / Max (mm) Arm Min Max PincherX-100 30 74 PincherX-150 30 74 ReactorX-150 30 74 ReactorX-200 30 74 WidowX-200 30 74 WidowX-250 30 74 WidowX-250 6DOF 30 74 ViperX-250 30 74 ViperX-300 42 114 ViperX-300 6DOF 42 114

Note

The min and max values are measured from the center of the gripper carriages.