Barrett WAM Arm

描述

The WAM Arm (Whole Arm Manipulator) is Barrett's highly dexterous, naturally backdrivable robot arm, cited in the Guinness World Records Millennium Edition as the world's most advanced robotic arm. Barrett says it is the only commercially available arm with direct-drive capability supported by Transparent Dynamics between motors and joints, so its contact-force control is robust and stable without relying on force or torque sensors, with zero backlash and near-zero friction. It comes in 4-DOF and 7-DOF configurations (plus 4-DOF with a 3-DOF gimbal), with human-like kinematics and joint ranges beyond conventional arms. Brushless motors with space-vector commutation drive advanced cabled differentials with patented auto-tensioners; it reaches about 1 m within a roughly 2 m spherical workspace, draws only about 50 W of active power, needs no controller cabinet and runs silently on AC or DC. Slender, smooth links let it work around obstacles and manipulate large objects with the sides of its links (whole-arm manipulation) as well as smaller ones with a hand such as the BarrettHand. Software is open source - a C++ real-time library (libbarrett) with ROS and ROS 2 support, 1 kHz motor torque control, Cartesian force control, gravity compensation and teach-and-play recording. Upgrades include High Speed (up to 5 m/s) and Ultra High Speed (up to 15 m/s), High Payload (8 kg for 4-DOF, 6 kg for 7-DOF) and High Precision (100 um for 4-DOF, 200 um for 7-DOF). Typical uses are reinforcement learning, planning and manipulation, haptics and teleoperation, mobile manipulation and rehabilitation research.

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