The WAM is a robot arm designed to achieve human-like dexterity and work safely around people. It has a wide range of motion, backdrivable actuators, and a hand that can grasp almost anything.
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Did You Know?
WAM stands for whole-arm manipulator.
Japanese researchers have programmed two WAM arms to play baseball against each other: one robot pitches and the other bats.
WAMs use a motor controller called Puck, which combines control, sensing, and power functions in a solid-state device about the size of a bottle cap.
- Open hardware and software architecture. Equipped with force control system based on current sensing (no reliance on mechanical sensors).
- 42 cm | 16.5 in (arm folded)
- 72 cm | 28.3 in
- 34 cm | 13.4 in
- 27 kg | 59.5 lb
- N/A km/h | N/A mph
- Motor shaft angle sensors, torque sensors (via on-board current).
- Brushless servomotors. Speed reduction via non-contacting pulleys and stainless steel cables.
- 16-V to 100-V power supply
- One PC/104 and eight 32-bit 80 MHz DSPs distributed inside the arm.
- Control code in C++. Fully compatible with ROS.
- DEGREES OF FREEDOM (DOF)
- Aircraft-grade aluminum for the main structure, steel, titanium, magnesium, carbon composites, and high tensile, low-mass steel cables.
- $99,000 for turn-key arm; $49,000 for modular wrist; $29,000 for basic hand; $4,000,000 total development cost.