WAM

An articulated robot arm extends from a base. It has a gold wrist attached to three fingers, bent and fanned out against a white background.
The WAM is a compliant, cable-driven manipulator arm. Photo: Barrett Technology

The WAM is a robot arm designed to achieve human-like dexterity and work safely around people. It has a wide range of motion, backdrivable actuators, and a hand that can grasp almost anything.

Creators

Barrett Technology and MIT

Year
2004
Country
United States 🇺🇸
Categories
Features
The capabilities of the WAM arm. Video: Barrett Technology

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Appearance

Neutral

Did you know?

WAM stands for whole-arm manipulator.

Close-up of a three fingered hand attached to an articulated robotic arm against a white background.
WAM and the BH8-series BarrettHand. Image: Barrett Technology
A silver three fingered articulated robot arm holds a beaker while attached to a red wheeled vehicle base.
WAM on wheels. Image: Barrett Technology

Specs

Overview

Open hardware and software architecture. Equipped with force control system based on current sensing (no reliance on mechanical sensors).

Status

Ongoing

Year

2004

Website
Width
34 cm
Height
42 cm (arm folded)
Length
72 cm
Weight
27 kg
Sensors

Motor shaft angle sensors, torque sensors (via on-board current).

Actuators

Brushless servomotors. Speed reduction via non-contacting pulleys and stainless steel cables.

Degrees of Freedom (DoF)
30
Materials

Aircraft-grade aluminum for the main structure, steel, titanium, magnesium, carbon composites, and high tensile, low-mass steel cables.

Compute

One PC/104 and eight 32-bit 80 MHz DSPs distributed inside the arm.

Software

Control code in C++. Fully compatible with ROS.

Power

16-V to 100-V power supply

Cost
$99,000 for turn-key arm; $49,000 for modular wrist; $29,000 for basic hand; $4,000,000 total development cost.