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.
Features:
- No controller cabinet
- Superb payload–to weight ratio
- Long, slender link structure
- High backdrivability
- Direct–teach recording without force sensors, with or without power, for safety
- Cartesian force control
- Gravity compensation
- Quiet operation
- Human–like kinematics
- Integrated current amplifiers
- Brushless motors
- 1kHz motor torque control
- Upgradeable firmware
- Joints never locked, for safety
Technical Specifications:
- Reach: 4–DOF 1000 mm, 7–DOF 1000 mm
- Payload: 4–DOF 4 kg, 7DOF 3 kg
- Endtip Velocity: Max 1 m/s
- Mass of Robot: 4–DOF 25 kg, 7–DOF 27.2 kg
- Work Volume: 3.5 m3
- Repeatability: 4–DOF 0.3 mm, 7–DOF 0.6 mm
- Total Joint Friction: 3 Nm
- Mechanical Stiffness: 1.5E6 N/m
- Control Stiffness: 5000 N/m
Power Requirements:
- Low power
- AC or DC operation
- Input Voltage: Typ 48VDC
- Active Power: Typ 50 W, Peak 250 W
Data/Communications:
- Open source C–language control software
- Highest performance S–V commutation
- 4–wire bus (2 power, 2 communication)
- 2 auxiliary digital I/O signals per axis
- 2 auxiliary analog input signals per axis
Force Controllable Robotic Arm
The WAM Arm is a highly dexterous backdrivable manipulator. It is the only commercially available robotic arm with direct–drive capability supported by transparent dynamics™ between the motors and joints, so its joint–torque control is unmatched and guaranteed stable. It is built to outperform today's conventional robots by offering extraordinary dexterity, zero backlash, and near–zero friction.
The WAM Arm is available in 3 main configurations, 4–degree–of–freedom, 7–degree–of–freedom, and 4–DOF high speed, all with human–like kinematics. The joint ranges exceed those for conventional robotic arms.
All axes are driven by high performance brushless motors, which use space–vector electronic commutation for the smoothest, most precise motions in both position and force control. Since the joints are highly backdrivable, true dynamic controls can be applied, resulting in much higher performance than is achievable with conventional manipulators. The high backdriveability enables inherent force–control, haptics, hybrid control, and teleoperation.
With its advanced and patented cabled differential, the WAM Arm is the ideal platform for implementing Whole–Arm Manipulation (WAM) techniques. To operate in and around obstacles in the workspace, the arm link surfaces are simple, smooth, and slender to prevent task interference.
Combined with Whole–Arm force sensing, the WAM can manipulate large, heavy objects with its large links as well as smaller objects with an attached grasper, such as the BarrettHand. Furthermore, the WAM Arm will operate with industrial hands, end of arm tooling, and toolchangers.
No Hassle, Open Source Software
The new WAM Arm software enhances the customer's ability to learn the dynamic capabilities, key concepts and features, and extensive possibilities associated with the WAM Arm. Some of the highlighted features include "Teach and Play," force control, and gravity compensation.
The "Teach and Play" software allows the user to record trajectories manually and play the same trajectories back at different speeds and accelerations with a touch of a key, even if you are not a programmer. Force control of the robot in Cartesian space is as easy as calling a single high–level force function. If you prefer to have low–level control of the motor torques, you have access to the raw torque output functions which form the basis of the higher–level control. The WAM Arm's zero–gravity compensation permits the user to move the WAM Arm in a floating motion through any trajectory.
"WAM" and "Transparent Dynamics" are trademarks of Barrett Technology, Inc.
