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WAM

Details

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.

Creator
Barrett Technology and MIT
Country
United States πŸ‡ΊπŸ‡Έ
Year
2004
Type
Research, Industrial
Creator
Barrett Technology and MIT
Country
United States πŸ‡ΊπŸ‡Έ
Year
2004
Type
Research, Industrial

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Specs

FEATURES
Open hardware and software architecture. Equipped with force control system based on current sensing (no reliance on mechanical sensors).
HEIGHT
42 cm | 16.5 in (arm folded)
LENGTH
72 cm | 28.3 in
WIDTH
34 cm | 13.4 in
WEIGHT
27 kg | 59.5 lb
SPEED
N/A km/h | N/A mph

SENSORS
Motor shaft angle sensors, torque sensors (via on-board current).
ACTUATORS
Brushless servomotors. Speed reduction via non-contacting pulleys and stainless steel cables.
POWER
16-V to 100-V power supply
COMPUTING
One PC/104 and eight 32-bit 80 MHz DSPs distributed inside the arm.
SOFTWARE
Control code in C++. Fully compatible with ROS.
DEGREES OF FREEDOM (DOF)
30
MATERIALS
Aircraft-grade aluminum for the main structure, steel, titanium, magnesium, carbon composites, and high tensile, low-mass steel cables.
COST
$99,000 for turn-key arm; $49,000 for modular wrist; $29,000 for basic hand; $4,000,000 total development cost.
STATUS
Ongoing
HISTORY
N/A
WEBSITE
http://www.barrett.com