1/31/2011 Hardware Specs | Willow Garage

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PR2 Hardware Specs ORDER PR2

Overview
Design Arms
Specs
Arm DOFs Arm Range of Motion
Applications A Arm :: 4 Shoulder Pan :: 170°
PR2 Community B Wrist :: 3 Shoulder Tilt :: 115°
C Gripper :: 1
Upper Arm Roll :: 270°
Funding
Arm Link Lengths Elbow Flex :: 140°
Order
Upper Arm :: 400 mm Forearm Roll :: Continuous
Forearm :: 321 mm Wrist Pitch :: 130°
Wrist to Gripper Surface :: 120 Wrist Roll :: Continuous
to 200 mm Gripper :: 90 mm max
Arm Force Output
4 DOF Passive Counterbalance
QUESTIONS
Arm Payload :: 1.8 Kg (4 lbs)
+1(650) 733-4772 Wrist Torque :: 4 Nm (3 ft lbf)
[email protected]
Grip Force :: 80 N (18 lbf)

Head, Spine & Base Computing

A Pan Tilt Head D 2x Onboard Servers

Pan :: 350° Processors :: Two Quad-
Tilt :: 115° Core i7 Xeon Processors (8
cores)
B Telescoping Spine Memory :: 24 GB
Height Range from Floor to Externally Removable Hard
Top of Head: Drive :: 1.5 TB
Short :: 1330 mm (4 ft 4.4 in) Internal Hard Drive :: 500 GB
Tall :: 1645 mm (5 ft 4.7 in)
In the Box
C Omni Directional Base
Casters :: 4 Steered and Base-Station Computer
Driven Joystick
Base Width & Depth :: 668 Power Cable
mm
Self Plug-in Cable
Speed :: 1 m/s
Small Calibration Target
Large Calibration Target

Sensors

A Head C Forearm
5-Megapixel Global Shutter Global Shutter Ethernet
Color Gigabit Ethernet Camera
Camera
Environment Stereo Camera: D Gripper
Wide-Angle Global Shutter Three-Axis Accelerometer
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Color Stereo Ethernet Fingertip Pressure Sensor
Camera Arrays
Manipulation Stereo Camera: Calibration LED
Narrow-Angle Global Shutter
Monochrome Stereo E Base
Ethernet Camera
Hokuyo UTM-30LX Laser
LED Texture Projector Scanner
Triggered with Narrow-Angle
Stereo Camera

B Above the Shoulders

Tilting Hokuyo UTM-30LX
Laser Scanner
Microstrain 3DM-GX2 IMU

Networks Power System

Gigabit Ethernet Wireless Batteries Run-Stops

32 Gigabit Backplane Switch Dual-Radio WiFi 1.3 kWh Lion Battery Pack Run-stops instantly disable all
Multi Gigabit Connection to Dedicated Service Access 2 hrs Approximate Runtime the motor drivers while still
Each Server Point leaving all the sensors, servers
Onboard Power Supplies and motor board diagnostics
All Cameras on Gigabit Bluetooth Access Point
Power Supplies Can Charge running.
Network
and Run the Robot at the Built in run-stop button on the
EtherCAT Network Same Time back of the robot.
1kHz Control to All Motors Wireless run-stop can be worn
Power Board
Exposure Triggering of Forearm on a belt or put next to a
Full Software Control and
Cameras, Environment Stereo, keyboard.
Diagnostics Over Ethernet
Manipulation Stereo, and
Texture Projector to Better than High Speed Circuit Breakers
1 ms

Sensor Modularity And Extensibility Mechanical Modularity

A Modularity E Modularity* A Modularity C Modularity

Bolt Pattern on Pan Tilt Forearm Camera Bays Removeable Full Arm Removeable Full Forearm
Platform
Ships with Leave Behind Leave Behind
Ethernet
Ethernet Cameras Telescoping Spine 5 DOF Arm
Ships with
Base
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Base
Wide FOV Color Stereo F Modularity* Electrical Interface
Head
Camera Bolt Pattern on Base EtherCAT
Other Arm
Narrow FOV Mono Stereo USB/Ethernet Battery
Camera Electrical Interface Ethernet
Ships with
LED Texture Projector
EtherCAT Regulated 12v
5MP Global Shutter Camera Planar Laser Scanner
Battery
D Modularity
G Modularity* Ethernet
B Modularity
Regulated 12v Bolt Pattern on Top of Base
Bolt Pattern on Sides of Head Computer Bay
Firewire/USB/Ethernet Electrical Interface
USB/Ethernet B Modularity
Ethernet
Ships with Removeable Gripper
C Modularity* Power
2x Xeon Boxes
Tilting Stage Leave Behind USB
Full 7 DOF Arm PCI Express Expansion Slot
Ships with

Planar Laser Scanner Electrical Interface

EtherCAT
D Modularity*
Battery
Removable Fingertips

Ships with

Pressure Sensor Arrays

* modularity spec not published

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

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