ROS-compatible robot arm for trolleys AMIR 740

basic information

【Product Specifications】 ■ Main Unit Weight: Approximately 7.1kg ■ Portable Weight: 2kg ■ Main Unit Material: Aluminum ■ Degrees of Freedom: 6 axes (5 axes + 1 gripper) ■ Input Power: 24V 10A ■ Gripping Range: 90mm ■ Motor: DC Motor x 6 ■ Maximum Speed: 60deg/s ■ Operating Angles, etc.: ・J1 (Base Yaw Axis): ±170 degrees ・J2 (Base Pitch Axis): -135 degrees to 0 degrees ・J3 (Elbow Pitch Axis): 0 degrees to +160 degrees ・J4 (Wrist Pitch Axis): -75 degrees to +120 degrees ・J5 (Wrist Roll Axis): ±158 degrees ・Gripper: 90mm (open) ■ Encoder: Incremental Encoder ■ Control Board: VS-WRC058 ■ Interface: USB Serial, Wi-Fi (IEEE802.11b/11g/11n) ■ SDK: Arduino Library for VS-WRC058, ROS Package ■ Accessories: DC Stabilized Power Supply, Fixed Clamps x 2, Emergency Stop Switch *Please prepare the development environment and ROS environment on your own.

Price information

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Delivery Time

Applications/Examples of results

We have confirmed the installation and operation of the research and development cart robot "Megaloader F120A," but it does not guarantee that it will not tip over in all postures and with all objects being grasped. During operation, please check the weight of the target object and the overall center of gravity, including the cart robot and the robotic arm, and ensure thorough safety measures in the surrounding area during operation. It is also possible to install this product on smaller models such as the research and development cart robot "Megaloader Ver.3.0," but in that case, due to the relationship between the weight and size of the cart robot, the entire robot will be more prone to tipping over. [Application Examples] Robotic arms, research and development robots, transport robots, two-wheel drive robots, autonomous driving robots, conveyor robots, AGVs, etc. *For more details, please refer to the PDF materials or feel free to contact us.

Detailed information

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  The AMIR 740 is designed to be mounted on the top plate of a research and development cart robot manufactured by Vstone Co., Ltd. It can be powered directly from the battery built into the cart robot, providing great flexibility for applications such as autonomous movement and automatic transportation. Additionally, the AMIR 740 can also be operated as a standalone robotic arm. It comes with a dedicated DC stabilized power supply and an emergency stop switch, allowing it to be powered and operated from an AC100V power source.

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  By equipping this product onto our research and development cart robot, the mobility of the cart robot is enhanced with the addition of a robotic arm as its "hand." The cart robot can simultaneously carry a wealth of equipment, such as LiDAR (LRF), depth cameras, and the "ROS PC option" to control them, allowing for the integration of measurements from various sensors, processing via a PC, and control through ROS. This enables the advancement of research and development projects that involve tasks such as lifting and transporting objects or interacting with target items, which would be difficult to achieve with the cart robot alone. Depending on user applications, it is expected that complex and advanced development projects can be researched and implemented in a more practical form, such as building an autonomous picking robot system combined with image processing and various distance-measuring sensors, or models that integrate the operation of a transport cart and robotic arm.

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  The AMIR 740 comes standard with a gripper that can open up to 90mm in width. By utilizing the mobility of the cart robot and the posture control of the robotic arm, it is capable of grasping various objects (though it cannot grasp every object).

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  This product achieves a portable weight of 2kg for the arm alone by utilizing a sturdy aluminum structure and the driving force of a DC motor. The maximum reach is 740mm from the center of rotation of axis 1 to the center of the hand, maintaining a portable weight of 2kg even at maximum reach. It realizes a practical size, durability, and portable weight as a robotic arm.

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  This product is equipped with the robot control board "VS-WRC058," allowing users to create control programs using the Arduino IDE. Sample code is provided with the product in the form of an Arduino library, enabling users to customize the firmware themselves. *Note: When programming the VS-WRC058 using the Arduino IDE, an environment with Arduino IDE version 1.8.13 or higher is required.

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  The AMIR 740 supports control via ROS (ROS1). By connecting to devices that run ROS, such as the "ROS PC Option" from Vstone Co., Ltd., via Wi-Fi or USB cable, you can provide target position and movement speed commands to this product, and also obtain encoder values for each axis from the product. This product comes standard with a model for the 3D simulator "Gazebo" and is compatible with the motion planning framework "MoveIt." Despite being a multi-joint robotic arm that can have complex control, it allows for easy operation and simulation on the GUI, enabling rational and rapid development by repeatedly validating on the simulator before reflecting the program onto the actual machine. Please note that you will need to prepare a separate device to run ROS. The recommended operating environment for the devices we suggest is as follows. *Additional setup of libraries not included with this product may be required.

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  Configuration diagram (when AMIR 740 is standalone)

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  By writing the sample program included with the AMIR 740, it is possible to operate it using the separately sold robot-specific wireless controller "VS-C3." With the VS-C3, you can control the posture and gripper position of the AMIR 740, as well as open and close the gripper, allowing you to perform operation checks and standalone demo operations without connecting to a control PC or creating a program. Additionally, since the sample program is published as an Arduino library, users can create their own unique programs based on it. It is possible to create and implement original programs aimed at piloting with the VS-C3. The receiving board of the VS-C3, "VS-RCV3," can be directly attached to the control board of the AMIR 740 without the need for complicated tasks such as adding a frame for fixing. Please note that the sample program compatible with the VS-C3 is different from the "Motion Works" compatible firmware and ROS compatible firmware, so these functions cannot be used simultaneously.

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  By writing the firmware provided by our company to the AMIR 740, it becomes possible to create motion programs using the robot GUI tool "Motion Works for VS-WRC058." The created motion programs can also be played back using the separately sold robot-specific wireless controller VS-C3, allowing the AMIR 740 to execute complex motions on its own. Unlike the aforementioned "VS-C3 compatible sample program," a significant feature is that the posture of the AMIR 740 can be constructed in advance as a motion file rather than being directly controlled from the VS-C3. Motion Works not only features an intuitive screen layout utilizing a GUI, but also allows for teaching by manually operating the AMIR 740 to create poses, making it easy to create complex robot motion programs. Please note that there are no plans to release the source code for the firmware compatible with Motion Works.