WAM Arm – User’s Manual
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1001, Version: AH.00
71 of 80
Appendix B Technical Specifications
Kinematics
Total number of joints:
4 or 7
Total number of motors: 4 or 7
Total joint friction:
3 Nm
Mechanical stiffness:
1.5*10
6
N/m
Control stiffness:
5000 N/m
Percent backdrivability: > 95%
Range of Motion
Reach
:
4-DOF WAM: 0.90 m to mounting plate
7-DOF WAM: 0.91 m to mounting plate
Joint
Positive Joint Limit
Negative Joint Limit
1 2.6
(150
˚
) -2.6
(-150
˚
)
2 2.0
(113
˚
) -2.0
(-113
˚
)
3 2.8
(157
˚
) -2.8
(-157
˚
)
4 3.1
(180
˚
) -0.9
(-50
˚
)
5 1.24
(71
˚
) -4.76
(-273
˚
)
6 1.57
(90
˚
) -1.57
(-90
˚
)
7 3.0
(172
˚
) -3.0
(-172
˚
)
Weight
4-DOF WAM: 25.6 kg (56.5 lb)
7-DOF WAM: 27.4 kg (60.5 lb)
Maximum Payload
4-DOF WAM: 4.0 kg (8.8 lb) at endpoint
7-DOF WAM: 3.0 kg (6.6 lb) at endpoint
Motor Type
Neodymium Iron Boron, brushless, DC servo motors
Mechanisms
Cable drives integrated with a cable differential
Barrett quick-connect feature for outer-link
Puck™ ultra-miniature motor encoders
Power Requirements
Single phase AC electrical outlet with ground:
Load: 250
W
Phases: Single
Voltage:
100-120 & 200-240 VAC
Frequency: 50/60
Hz
Power Supply
Location:
dry, stable surface
Voltage: 48
VDC
output
Size:
279.4 x 127 x 63.5 mm (11 x 5 x 2.5 in)
Weight:
2.27 kg (5.0 lb)
