Mobile Manipulator X-WAM

Mobile Manipulator X-WAM

Mobile Manipulator X-WAM

X-WAM is an omnidirectional or differential mobile manipulator designed mainly for indoor tasks, although it also can work outdoor. X-WAM is a compact robot that combines the advantages of the Summit X platform and the WAM robotic arm.

Robotnik

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Ideal for indoor tasks

X-WAM robot can be raised to a considerable height (such a table, for example) greatly expanding the manipulator workspace, allowing it to reach objectsat different heights. The suspension of the mobile manipulator has the ability to lower its center of gravity(COG). Lowering the COG allows it to reach speedsup to 3m/s.

On the other hand, the platform has omnidirectional or skid-steering kinematics based on 4 high-power motorwheels. Each wheel integrates a hub brushless motor with gearbox, speed sensors and optional encoder. The odometry is computed with the use ofthe four independent wheels speeds and a high precision angular sensor mounted inside the chassis. The strong mechanical structure allows the X-WAM to carry heavy loads. There are several suspension shock possibilities, which can be mounted at several positions to modify the ground clearance.

The X-WAM manipulator uses the ROS architecture.

The applications of X-WAM manipulator are numerous:
  • Indoor mobile manipulation
  • Research and education
  • Surveillance – Military
  • Remote handling


Specifications

  • Dimensions: 796 x 673 x 1.141 mm (platform spread out) 796 x 673 x 779 mm (platform folded)
  • Weight: 90 Kg
  • Load capacity: 4 Kg
  • Speed: 3 m/s
  • Controller: open architecture ROS

Accessories

  • BASIC PLATFORM
    • SUMMIT X ACCESSORIES HOKUYO (several models)
  • INERTIAL MEASUREMENT SYSTEM nIMU:
    • Acceleration 3D
    • Gyro 3D
    • Magnetic field 3D
  • CAMERA PTZ
  • RKT-DGPS L1TE
  • CONTROL RC FASST:
    • 6 channels
    • Included option take-over
  • CAMERAS RANGE 3D (Xtion PRO LIVE)
  • BASIC ARM
    • WAM ARM

Datasheet