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)
pr2info@willowgarage.com
Grip Force :: 80 N (18 lbf)

Head, Spine & Base Computing

A Pan Tilt Head D 2x Onboard Servers

Pan :: 350°
Tilt :: 115°
B Telescoping Spine
Height Range from Floor to
Top of Head:
Short :: 1330 mm (4 ft 4.4 in)
Tall :: 1645 mm (5 ft 4.7 in)
In the Box
C Omni Directional Base
Casters :: 4 Steered and
Driven
Base Width & Depth :: 668
mm
Speed :: 1 m/s
Processors :: Two Quad-
Core i7 Xeon Processors (8
cores)
Memory :: 24 GB
Externally Removable Hard
Drive :: 1.5 TB
Internal Hard Drive :: 500 GB
Base-Station Computer
Joystick
Power Cable
Self Plug-in Cable
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
Camera
Manipulation Stereo Camera:
Narrow-Angle Global Shutter
Monochrome Stereo E Base
Ethernet Camera
LED Texture Projector
Triggered with Narrow-Angle
Stereo Camera
B Above the Shoulders
Tilting Hokuyo UTM-30LX
Laser Scanner
Microstrain 3DM-GX2 IMU
Networks
Gigabit Ethernet Wireless
32 Gigabit Backplane Switch
Multi Gigabit Connection to
Each Server
All Cameras on Gigabit
Network
EtherCAT Network
1kHz Control to All Motors
Exposure Triggering of Forearm
Cameras, Environment Stereo,
Manipulation Stereo, and
Texture Projector to Better than
1 ms
Sensor Modularity And Extensibility
A Modularity E Modularity*
Bolt Pattern on Pan Tilt
Platform
Ethernet
Ships with
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Fingertip Pressure Sensor
Arrays
Calibration LED
Hokuyo UTM-30LX Laser
Scanner
Power System
Batteries Run-Stops
Dual-Radio WiFi 1.3 kWh Lion Battery Pack Run-stops instantly disable all
Dedicated Service Access 2 hrs Approximate Runtime the motor drivers while still
Point leaving all the sensors, servers
Onboard Power Supplies and motor board diagnostics
Bluetooth Access Point
Power Supplies Can Charge running.
and Run the Robot at the Built in run-stop button on the
Same Time back of the robot.
Wireless run-stop can be worn
Power Board
on a belt or put next to a
Full Software Control and
keyboard.
Diagnostics Over Ethernet
High Speed Circuit Breakers
Mechanical Modularity
A Modularity C Modularity
Forearm Camera Bays Removeable Full Arm Removeable Full Forearm
Ships with Leave Behind Leave Behind
Ethernet Cameras Telescoping Spine 5 DOF Arm
Base
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1/31/2011 Hardware Specs | Willow Garage
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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