Modern Manipulator Arm for Robotics Courses and Research

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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Overview

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).

Features
Workstation Configuration
Courseware

QArm Feature Callout

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

The following additional components are required to complete your workstation, and are sold separately:

For USB QFLEX Panel

QUARC® add-on for MATLAB®/Simulink®

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

Product Details

Specifications

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

QArm

QArm

Modern Manipulator Arm for Robotics Courses and Research