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).

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
  • Statics
  • Visual servoing
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

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

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