QArm
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).
| 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 |
Complete curriculum for QUARC users
• Introduction to QArm sensors and components
• Joint control
• Forward kinematics
• Inverse kinematics
• Path planning
• Differential kinematics
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
The following additional components are required to complete your workstation, and are sold separately:
For USB QFLEX Panel
• QUARC® add-on for MATLAB®/Simulink®
