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QArm

Modern Manipulator Arm for Robotics Courses and Research

Robotics & Mechatronics Manipulator Robotics

Quanser’s QArm is a 4 DOF serial robotic manipulator with a tendon-based two-stage gripper and an RGBD camera, designed for modern engineering education and academic research applications. Leveraging the intuitive graphical interface of Simulink® or expandability of Python™ and ROS, students get a systematic understanding of the design of robotic systems and concepts, including joint control, kinematics, path planning, statics, and dynamics. QArm comes with comprehensive studio-type course resources to motivate students and provide the basis for interactive challenges. The QArm curriculum is mapped to popular robotics textbooks by Mark Spong and John Craig.

The open architecture design of QArm allows researchers to quickly develop and deploy their applications in machine learning, assistive robotics, collaborative robotics, and more, using both custom and internal control schemes.

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Product Details

The QArm consists of 4 joints in a roll-pitch-pitch-roll configuration, allowing for a large reachable workspace. The two-stage 5-contact gripper allows you to interact with objects of various shapes while gauging grip strength via current sense. The gripper can be augmented and customized with additional sensors and actuators via the interfacing board. The position of the RGBD camera enables you to perform inspection and visual servoing tasks. With these features, the arm is ideally suited to adapt and learn from unknown environments.

Two interface options allow for QArm’s control and access from a computer via USB (using a QFLEX 2 USB interface panel), or microcontrollers such as Raspberry Pi (using a QFLEX 2 Embedded interface panel).

  • Suite of sensors and control modes
  • Quick development and validation of algorithms and control approaches
  • Compatible with a range of software environments and interface options
  • Expandable I/O for unlimited applications
  • Comprehensive studio-style course resources mapped to popular robotics textbooks
Manipulator weight 8.25 kg
Payload 350-750 g
Reach 750 mm
Repeatability ± 0.05 mm
Camera Intel® RealSense™ D415
Interface USB (QFLEX 2)
Interface control modes Position mode, Current mode
External control rate 500 Hz
Expandable I/O PWM/Analog/I²C/SPI/UART
Minimum and maximum joint range Base: ±170°
Shoulder: ± 85°
Elbow: -95°/+75°
Wrist: ± 160°
Maximum joint speed ± 90°/s
Complete curriculum for QUARC users
  • Introduction to QArm sensors and components
  • Joint control
  • Forward kinematics
  • Inverse kinematics
  • Path planning
  • Differential kinematics
Guided examples for Python
  • Joint space navigation
  • Task space navigation
Guided examples for ROS users
  • Joint space pick and place
  • Task space pick and place
  • ROS action server/client

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