WidowX Heavy

Attention

Specifications on this page are preliminary and subject to change.

Overview

See Arms to compare the WidowX arms.

WidowX Heavy Degrees of Freedom 6 + Gripper Payload Capacity 6 kg Weight 8 kg Reach 1.114 m Gripper Stroke 90 mm Nominal Voltage 24 V Peak Current TBD Communication Ethernet

Joint Limits

Joint	Min Position [rad (deg)]	Max Position [rad (deg)]	Velocity [rad/s (deg/s)]	Effort [N*m]
Joint 0	-2.8798 (-165)	2.8798 (165)	6.2832 (360)	97
Joint 1	0 (0)	3.8397 (220)	6.2832 (360)	194
Joint 2	0 (0)	3.7525 (215)	6.2832 (360)	97
Joint 3	-1.5708 (-90)	1.5708 (90)	6.2832 (360)	27
Joint 4	-1.5708 (-90)	1.5708 (90)	9.4248 (540)	7
Joint 5	-2.0071 (-115)	2.0071 (115)	9.4248 (540)	7

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().

Controller Base

The controller base has three M12 connectors with different functions.

Coding	Carries
X Code	Network
A Code	GPIO
L Code	Power

The base also has the arm’s power switch, a status LED, and a small screen that can display and manage the arm’s state and configuration.