Specifications

This page contains specifications for the Trossen Arms.

WidowX AI

Overall Specifications

Specification	Value
Degrees of Freedom	6
Payload Capacity	1.5 kg
Weight	4kg
Reach	0.769m
Nominal Voltage	24 V
Peak Current	15 A
Communication	UDP over Ethernet

Joint Limits

Joint	Min Position [rad (deg)]	Max Position [rad (deg)]	Velocity [rad/s (deg/s)]	Effort [N*m]
Joint 0	-3.054 (-175)	3.054 (175)	3.375 (193)	27
Joint 1	0 (0)	3.14 (180)	3.375 (193)	27
Joint 2	0 (0)	4.712 (270)	3.375 (193)	27
Joint 3	-1.57 (-90)	1.57 (90)	7.000 (400)	7
Joint 4	-1.57 (-90)	1.57 (90)	7.000 (400)	7
Joint 5	-3.14 (-180)	3.14 (180)	7.000 (400)	7

Specification	Value
Max Finger Displacement [m]	0.044
Max Gripping Force [N]	\(\text{torque}_{6, \max} / \text{pitch raidus} = 3.0/0.00875 = 342.857\)

Note

These effort limits are nominal values. The actual limits are computed with the following formula:

\[\text{effort}_\max = \frac{\text{effort}_\text{max_nominal}}{\text{effort_correction}}\]

where \(\text{effort_nominal}\) is the nominal effort limit of a joint, \(\text{effort_correction}\) is the effort correction factor of this joint , and \(\text{effort}_\max\) is the actual effort limit of this joint.

The effort corrections can be retrieved with trossen_arm::TrossenArmDriver::get_effort_corrections().

Workspace

Denavit-Hartenberg parameters

Classic

This set of parameters follows the classic Denavit-Hartenberg convention.

Transformation	\(d\) [m]	\(\theta\) [rad]	\(a\) [m]	\(\alpha\) [rad]
\(^\text{base}T_0\)	0.1035	\(\theta_0\)	0.02	\(-\pi/2\)
\(^0T_1\)	0.0	\(\theta_1+\pi\)	0.264	\(\pi\)
\(^1T_2\)	0.0	\(\theta_2-\pi/2-\arctan(0.245/0.06)\)	\(\sqrt{0.245^2+0.06^2}\)	0.0
\(^2T_3\)	0.0	\(\theta_3-\arctan(0.06/0.245)\)	0.06775	\(\pi/2\)
\(^3T_4\)	0.0	\(\theta_4+\pi/2\)	0.0	\(\pi/2\)
\(^4T_5\)	0.17095	\(\theta_5\)	0.0	\(\pi/2\)
\(^5T_\text{gripper}\)	0.0	\(\pi/2\)	0.0	0.0

Modified

This set of parameters follows the modified Denavit-Hartenberg convention.

Transformation	\(\alpha\) [rad]	\(a\) [m]	\(\theta\) [rad]	\(d\) [m]
\(^\text{base}T_0\)	0.0	0.0	\(\theta_0\)	0.1035
\(^0T_1\)	\(-\pi/2\)	0.02	\(\theta_1+\pi\)	0.0
\(^1T_2\)	\(\pi\)	0.264	\(\theta_2-\pi/2-\arctan(0.245/0.06)\)	0.0
\(^2T_3\)	0.0	\(\sqrt{0.245^2+0.06^2}\)	\(\theta_3-\arctan(0.06/0.245)\)	0.0
\(^3T_4\)	\(\pi/2\)	0.06775	\(\theta_4+\pi/2\)	0.0
\(^4T_5\)	\(\pi/2\)	0.0	\(\theta_5\)	0.17095
\(^5T_\text{gripper}\)	\(\pi/2\)	0.0	\(\pi/2\)	0.0