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Description

This page provides detailed information about the hardware of the Baxter robot.

Baxter Hardware Overview

This section provides a basic overview of the hardware that makes up the Baxter robot. For more technical specifications, see our Baxter Arm Specifications section of this page.

Baxter Overview

Baxter hardware.png Hardware back view.PNG

Attention Ring

The attention ring lights appear in clusters of two or three when Baxter detects movement. When Baxter is confused, the yellow lights in the ring appear and flash simultaneously.

Attentionring.png

Condition Ring

The condition ring communicates the condition of the robot.

Conditionring.png

Conditionring2.png

Training Cuff

Use the training cuffs to move the arms, manipulate the state of the grippers, and secondarily, to select on-screen options.

Hardware training cuff.PNG

  1. Squeeze this switch at the indentation in the cuff to move the robot’s arm. When this switch is squeezed, the blue indicator on the arm’s navigator button lights up.
  2. Press to toggle a parallel gripper open or closed, or a vacuum gripper on or off.
  3. Press to select items on the display screen. Create waypoints, Hold actions; select, copy, or move actions on the task map, as well as outline a visual search area.


Navigator

Use the navigator on either of the arms to scroll to and interact with options on the screen. When you press the OK button (2) (or the action button on the cuff), the white indicators on the navigator light up.

Hardware navigator.PNG

  1. Press to exit the current screen and return to the previous screen. Will also cancel the last action.
  2. Scroll the knob to move between on-screen options. Press the knob (OK) to select an option.
  3. When the action button on the cuff or the OK button on the navigator is pressed, the white indicator around the knob lights up.
  4. Press to display options for the current screen.
  5. When the switch on the cuff is squeezed, the blue indicators along the top and bottom edge of the navigator light up.

Baxter Arm Specifications

The arms of the Baxter Robot are the most important components of the robot and having a solid understanding of the specifications of the arms is crucial when it comes to understanding how the robot operates. The information in the sections below will provide you with the knowledge necessary to gain a better understanding of how the Baxter works.

Joint Names

Baxter's joint names are mentioned a number of times in this documentation. A labeled diagram can be found below (S=Shoulder, E=Elbow, W=Wrist)

Baxter arm.png

The arm joints are named in the following manner:

S0 - Shoulder Roll

S1 - Shoulder Pitch

E0 - Elbow Roll

E1 - Elbow Pitch

W0 - Wrist Roll

W1 - Wrist Pitch

W2 - Wrist Roll

Link Lengths

Link lengths for Baxter's joints are measured in mm, from the center of one joint to the center of the next. They can be found in the image below.

Baxter Link Lengths.png


Range of Motion - Bend Joints

The range of motion for each bend joint is presented below. The table shows the measurements in degrees and radians (the values are in the following format - +limit,-limit:total movement)


Baxter RangeMotion 1.png

Link Length Table (Bend Joints)
Joint Range (Degrees) Range (Radians)
S1 +60,-123:183 +1.047,-2.147:3.194
E1 +150,-3:153 +2.618,-0.052:2.67
W1 +120,-90:210 +2.094,-1.571:3.665

Range of Motion - Twist Joints

The range of motion for each twist joint is presented below. The table shows the measurements in degrees and radians (the values are in the following format - +limit,-limit:total movement)

Baxter RangeMotion 2.png

Link Length Table (Twist Joints)
Joint Range (Degrees) Range (Radians)
E0 +173.5,-173.5:347 +3.028,-3.028:6.056
S0 +51,-141:192 +0.890,-2.461:3.351
W0 +175.25,-175.25:350.5 +3.059,-3.059:6.117
W2 +175.25,-175.25:350.5 +3.059,-3.059:6.117

Joint Flexure Stiffness

Flexure Stiffness (K)
Joint Stiffness
Small Flexures (W0, W1, W2) 3.4deg @ 15Nm (~250Nm/rad)
Large Flexures (S0, S1, E0, E1) 3.4deg @ 50Nm (~843Nm/rad)

S1 Spring Specifications

S1 Spring Specs
Description Spec
Spring Type JIS standard die spring: ASF 35 X 200
Free Length 200 mm
Stiffness (K) 9.6 N/mm
Operating length 101 mm - 154 mm

Joint Sensor Resolution

  • The resolution for the joint sensors is 14 bits (over 360 degrees); so 360/(2^14) = 0.021972656 degrees per tick resolution.
  • All of the joints have a sinusoidal non-linearity, giving a typical accuracy on the order of +/-0.10 degrees, worst case +/-0.25 degrees accuracy when approaching joint limits. In addition, there may be an absolute zero-offset of up to +/-0.10 degree when the arm is not calibrated properly. Be sure to calibrate the arms if you are trying to minimize accuracy errors in the joint sensors.

Peak Torque

The peak torque specification refers to the maximum amount of torque that can be applied to each joint.

Peak Torque Per Joint
Joint Peak Torque
S0,S1,E0,E1 50Nm
W0,W1,W2 15Nm

Other Hardware Specifications

Camera Specifications

Description Spec
Max Resolution 1280 x 800 pixels
Effective Resolution 640 x 400 pixels
Frame Rate 30 frames per second
Focal Length 1.2mm

CPU Specifications

Description Spec
Processor 3rd Gen Intel Core i7-3770 Processor (8MB, 3.4GHz) w/HD4000 Graphics
Memory 4GB, NON-ECC, 1600MHZ DDR3
Hard Drive 128GB Solid State Drive

Component Weights

Description Spec
Total weight (with pedestal) 298 lbs / 135.2 kg
One Arm 47 lbs / 21.3 kg
Torso 70 lbs / 31.8 kg
Pedestal 134 lbs / 60.8 kg

Electrical Specifications

Description Spec
Battery Operation DC-to-120V AC Inverter (Note: the Baxter robot has an internal PC, which cannot be powered directly off of 24V DC)
Interface Standard 120VAC power. Robot power bus and internal PC both have “universal” power supplies and support  90 - 264V AC (47 - 63Hz)
Max Consumption 6A at 120V AC, 720W max per unit
Electrical Efficiency 87% to 92%
Power Supply Uses medical-grade DC switching power supply for robot power bus
Tolerance to sags Sags tolerated to 90V. Sustained interruption will require manual power-up
Voltage Flicker Holdup time 20mS
Voltage Unbalance Single phase operation only

Miscellaneous Specifications

Description Spec
Screen Resolution 1024 x 600 pixels
Positional Accuracy +/- 2.5 mm
Max Payload (including end-effector) 5 lb / 2.2 kg
Gripping Force (max) 35 N / 8 lbs
Infrared Sensor Range 1.5 – 15 in / 4 – 40 cm

Description

This page provides detailed information about the hardware of the Sawyer robot.

Sawyer Hardware Overview

This section provides a basic overview of the hardware that makes up the Sawyer robot. For more technical specifications, see our Sawyer Arm Specifications section of this page.

Sawyer Overview

Sawyer Hardware Overview.PNG

Training Cuff

Use the training cuffs to move the arm, manipulate the state of the gripper, and secondarily, to select on-screen options.

Sawyer Training Cuff.png

  1. Zero-G Mode - Squeeze this switch at the indentation in the cuff to move the robot’s arm. When this switch is squeezed, the blue indicator on the arm’s navigator button lights up.
  2. Grasp Button - Press to toggle a parallel gripper open or closed, or a vacuum gripper on or off.
  3. Action Button - Press to select items on the display screen. Create waypoints, Hold actions; select, copy, or move actions on the task map, as well as outline a visual search area.
  4. Traning Cuff Light - Indicator light to provide feedback when actions are performed and display the current state (ie: running in zero-g mode) of the arm.

Navigator

Use the navigator on the arm or base to scroll to and interact with options on the screen.

Sawyer Navigator.png

  1. Back Button - Press to exit the current screen and return to the previous screen. Will also cancel the last action.
  2. Rethink Button - Press to display options for the current screen.
  3. Selector Knob - Scroll the knob to move between on-screen options. Press the knob (OK) to select an option.
  4. Zero-G Mode - Press and hold this button to move the robot's arm with motor assist. This button has the same functionality as the Zero-G button on the training cuff.
  5. Toggle Head Direction - Toggles between the head facing forward or to the current end of arm position. If head is in passive mode, it will be changed to active.
  6. Order Screen - Opens the task order screen.

Sawyer Electrical Specifications

Description Spec
Interface Standard 120VAC power. Robot power bus and internal PC both have “universal” power supplies and support  90 - 264V AC (47 - 63Hz)
Max Consumption 4A at 120V AC, 480W max per unit
Electrical Efficiency 87% to 92%
Power Supply Uses industrial-grade DC switching power supply for robot power bus
Tolerance to sags Sags tolerated to 90V. Sustained interruption will require manual power-up
Voltage Flicker Holdup time 20mS
Voltage Unbalance Single phase operation only

Sawyer Environmental Specifications

Description Spec
Environment Indoor Use
Altitude Up to 2000 meters
Operating Temperature 0°C to 40°C
Relative Humidity 80% for temperatures up to 31°C, decreasing linearly to 50% relative humidity at 40°C
Pollution Degree 2

Sawyer Arm Specifications

The arm of the Sawyer Robot is the most important component of the robot and having a solid understanding of the different specifications of the arm is crucial when it comes to understanding how the robot operates. The information in the sections below will provide you with the knowledge necessary to gain a better understanding of how the Sawyer works.

Joint and Link Names

Sawyer joint and link names are referenced many times in technical documentation and will be referenced by Rethink Robotics support representatives regularly. The diagram below labels the joints and link of the Sawyer arm.

Sawyer Joints and Links Named.PNG

The joint and link naming for the Sawyer arm starts at the base and increases incrementally up to the wrist. The joints are named J0 - J6 and the links are named L0 - L6.

The joints in the Sawyer are also classified into two categories (roll or pitch) by their movement. The small table below lists each joint in one of these two categories.

Joint Classification
Roll Pitch
J0, J2, J4, J6 J1, J3, J5

Link Lengths

Link lengths for Sawyer's joints are measured in mm, from the center of one joint to the center of the next. They can be found in the image and table below.

Sawyer Link Lengths.PNG

Link Lengths
Link Name Length
L0 81mm
L1 192.5mm
L2 400mm
L3 168.5mm
L4 400mm
L5 136.3mm
L6 133.75mm

Range of Motion - Roll Joints

The range of motion of each roll joint is presented below. The overall joint range is specified.

Sawyer Even Numbered Joints.png

Roll Joints
Joint Name Range (Degrees)
J0 350
J2 350
J4 341
J6 540

Range of Motion - Pitch Joints

The range of motion of each pitch joint is presented below. The overall joint range is specified.

Sawyer Odd Numbered Joints.PNG

Pitch Joints
Joint Name Range (Degrees)
J1 350
J3 341
J5 350

Control Box

General Dimensions

  Note: All dimensions are in millimeters.  

Sawyer Control Box General Dimensions.PNG

Ports and Devices

Side View

Sawyer Control Box Ports Side View.PNG

Bottom View

Sawyer Control Box Ports Bottom View.PNG

  • Inputs:
    • Power
    • Air
  • Outputs
    • Air (4x)
    • Power and Data
    • Video

Inside View

Sawyer Control Box Inside View.PNG

  • Terminal Unit (8 Digital Inputs, 8 Digital Outputs) Link
  • Safety Rated Controller Link
  • Solenoid Valve (2x)
  • Ethernet Port
  • USB Port (2x)

Pedestal

General Dimensions

  Note: All dimensions are in centimeters.  

Sawyer Pedestal Basic Dimensions.PNG

Overview

Sawyer Pedestal Overview.PNG

Next Step

Review the End of Arm Tooling