Hardware Specs

order PR2

Arms (SE model: right arm only)

Arm DOFs
  1. AArm :: 4
  2. BWrist :: 3
  3. CGripper :: 1
Arm Link Lengths
  • Upper Arm :: 400 mm
  • Forearm :: 321 mm
  • Wrist to Gripper Surface :: 120 to 200 mm
Arm Force Output
  • 4 DOF Passive Counterbalance
  • Arm Payload :: 1.8 Kg (4 lbs)
  • Wrist Torque :: 4 Nm (3 ft lbf)
  • Grip Force :: 80 N (18 lbf)
Arm Range of Motion
  • Shoulder Pan :: 170°
  • Shoulder Tilt :: 115°
  • Upper Arm Roll :: 270°
  • Elbow Flex :: 140°
  • Forearm Roll :: Continuous
  • Wrist Pitch :: 130°
  • Wrist Roll :: Continuous
  • Gripper :: 90 mm max

Head, Spine & Base

  1. A Pan Tilt Head
    • Pan :: 350°
    • Tilt :: 115°
  2. B Telescoping Spine
      Height Range from Floor to Top of Head:
    • Short :: 1330 mm (4 ft 4.4 in)
    • Tall :: 1645 mm (5 ft 4.7 in)
  3. C Omni Directional Base
    • Casters :: 4 Steered and Driven
    • Base Width & Depth :: 668 mm
    • Speed :: 1 m/s

Computing

  1. D 2x Onboard Servers
    • Processors :: Two Quad-Core i7 Xeon Processors (8 cores)
    • Memory :: 24 GB
    • Externally Removable Hard Drive :: 1.5 TB
    • Internal Hard Drive :: 500 GB

In the Box

  • Base-Station Computer
  • Joystick
  • Power Cable
  • Self Plug-in Cable
  • Small Calibration Target
  • Large Calibration Target

Sensors

  1. A Head
    • Microsoft Kinect
    • 5-Megapixel Global Shutter Color Gigabit Ethernet Camera (1-Megapixel on SE)
    • Environment Stereo Camera: Wide-Angle Global Shutter Color Stereo Ethernet Camera (NOT on SE)
    • Manipulation Stereo Camera: Narrow-Angle Global Shutter Monochrome Stereo Ethernet (NOT on SE)
    • LED Texture Projector Triggered with Narrow-Angle Stereo Camera (NOT on SE)
  2. B Above the Shoulders
    • Tilting Hokuyo UTM-30LX Laser Scanner
    • Microstrain 3DM-GX2 IMU
  1. CForearm
    • Global Shutter Ethernet Camera
  2. DGripper
    • Three-Axis Accelerometer
    • Fingertip Pressure Sensor Arrays (NOT on SE)
    • Calibration LED
  3. E Base
    • Hokuyo UTM-30LX Laser Scanner

Networks

  1. Gigabit Ethernet
    • 32 Gigabit Backplane Switch
    • Multi Gigabit Connection to Each Server
    • All Cameras on Gigabit Network
  2. EtherCAT Network
    • 1kHz Control to All Motors
    • Exposure Triggering of Forearm Cameras, Environment Stereo, Manipulation Stereo, and Texture Projector to Better than 1 ms
  1. Wireless
    • Dual-Radio WiFi
    • Dedicated Service Access Point
    • Bluetooth Access Point

Power System

  1. Batteries
    • 1.3 kWh Lion Battery Pack
    • 2 hrs Approximate Runtime
  2. Onboard Power Supplies
    • Power Supplies Can Charge and Run the Robot at the Same Time
  3. Power Board
    • Full Software Control and Diagnostics Over Ethernet
    • High Speed Circuit Breakers
  1. Run-Stops
    • Run-stops instantly disable all the motor drivers while still leaving all the sensors, servers and motor board diagnostics running.
    • Built in run-stop button on the back of the robot.
    • Wireless run-stop can be worn on a belt or put next to a keyboard.

Sensor Modularity And Extensibility

  1. AModularity
    • Bolt Pattern on Pan Tilt Platform
    • Ethernet
    Ships with
    • Wide FOV Color Stereo Camera
    • Narrow FOV Mono Stereo Camera
    • LED Texture Projector
    • 5MP Global Shutter Camera
  2. BModularity
    • Bolt Pattern on Sides of Head
    • USB/Ethernet
  3. CModularity*
    • Tilting Stage
    Ships with
    • Planar Laser Scanner
  4. DModularity*
    • Removable Fingertips
    Ships with
    • Pressure Sensor Arrays
  1. E Modularity*
    • Forearm Camera Bays
    Ships with
    • Ethernet Cameras
  2. F Modularity*
    • Bolt Pattern on Base
    • USB/Ethernet
    Ships with
    • Planar Laser Scanner
  3. G Modularity*
    • Computer Bay
    • Firewire/USB/Ethernet
    Ships with
    • 2x Xeon Boxes

Mechanical Modularity

  1. AModularity
    • Removeable Full Arm
    Leave Behind
    • Telescoping Spine
    • Base
    • Head
    • Other Arm
  2. Electrical Interface
    • EtherCAT
    • Battery
    • Ethernet
    • Regulated 12v
  3. BModularity
    • Removeable Gripper
    Leave Behind
    • Full 7 DOF Arm
    Electrical Interface
    • EtherCAT
    • Battery
  1. CModularity
    • Removeable Full Forearm
    Leave Behind
    • 5 DOF Arm
  2. Electrical Interface
    • EtherCAT
    • Battery
    • Ethernet
    • Regulated 12v
  3. DModularity
    • Bolt Pattern on Top of Base
    Electrical Interface
    • Ethernet
    • Power
    • USB
    • PCI Express Expansion Slot

* modularity spec

Specifics of components are subject to change at any time. Contact us with questions.