WidowX-200

Overview

The WidowX-200 Robot Arm belongs to the Interbotix X-Series family of arms featuring the DYNAMIXEL X-Series Smart Servo Motors. The X-Series actuators offer high torque, efficient heat dissipation and great durability all at a smaller form factor over previous DYNAMIXEL servos. The DYNAMIXEL XM430-W350 & DYNAMIXEL XL430-W250 servos offer high resolution of 4096 positions and user definable PID parameters, temperature monitoring, positional feedback, as well as voltage levels, load, and compliance settings are user accessible as well. At the heart of the WidowX-200 is the Robotis DYNAMIXEL U2D2 which enables easy access to DYNAMIXEL Wizard software as well as ROS. The WidowX-200 offers 5 degree of freedom and a full 360 degree of rotation.

WidowX-200
Degrees of Freedom	5
Reach	550mm
Total Span	1100mm
Repeatability	1mm
Accuracy	5 - 8mm
Working Payload	200g*
Total Servos	7
Wrist Rotate	Yes

Note

* Working Payload for the WidowX-200 is inside its maximum reach, if intending to use a 200g weight we recommend no more than a 50% extension of the arm.

Default Joint Limits

Default joint limits are the safe range of operation for each joint. These are set in the firmware, defined as degrees from Zero (servo centered).

Joint	Min	Max	Servo ID(s)
Waist	-180	180	1
Shoulder	-108	113	2+3
Elbow	-108	93	4
Wrist Angle	-100	123	5
Wrist Rotate	-180	180	6
Gripper	30mm	74mm	7

Default Servo Configurations

ID	Joint Name	Servo	Baudrate
1	waist	XM430-W350	1Mbps
2	shoulder	XM430-W350	1Mbps
3	shoulder_shadow	XM430-W350	1Mbps
4	elbow	XM430-W350	1Mbps
5	wrist_angle	XM430-W350	1Mbps
6	wrist_rotate	XL430-W250	1Mbps
7	gripper	XL430-W250	1Mbps

Kinematic Properties

Product of Exponentials [Learn More]

\[\begin{split}M & = \begin{bmatrix} 1.0 & 0.0 & 0.0 & 0.408575 \\ 0.0 & 1.0 & 0.0 & 0.0 \\ 0.0 & 0.0 & 1.0 & 0.31065 \\ 0.0 & 0.0 & 0.0 & 1.0 \end{bmatrix}\end{split}\]

\[\begin{split}Slist & = \begin{bmatrix} 0.0 & 0.0 & 1.0 & 0.0 & 0.0 & 0.0 \\ 0.0 & 1.0 & 0.0 & -0.11065 & 0.0 & 0.0 \\ 0.0 & 1.0 & 0.0 & -0.31065 & 0.0 & 0.05 \\ 0.0 & 1.0 & 0.0 & -0.31065 & 0.0 & 0.25 \\ 1.0 & 0.0 & 0.0 & 0.0 & 0.31065 & 0.0 \end{bmatrix}^T\end{split}\]

Drawings and CAD Files

WidowX-200 Technical Drawing