ALOHA机械臂入门教程-硬件清单
文章说明
- 本教程主要为aloha套件中的硬件介绍
硬件规格
| Sub-Assembly or Part | Qty |
|---|---|
| Frame and Gravity Compensation | |
| Upright "H" Sub-Assembly | 2 |
| Arm Mount "A" Sub-Assembly | 2 |
| 2020-305mm Bar "45" Sub-Assembly | 4 |
| 2020-200mm Bar "G" Sub-Assembly | 2 |
| 2020-200mm Bar "P" Sub-Assembly | 2 |
| 2020-1220mm Bar "F" Sub-Assembly | 1 |
| 2020-1220mm Bar "B" Sub-Assembly | 1 |
| 2040-890mm Bar "T" Sub-Assembly | 1 |
| Automatic-Return Hanging Retractor without Cable Lock, 1 to 2 lb. Capacity | 2 |
| Pulley for Wire Rope | 6 |
| 5" Long Extension Spring | 2 |
| 110mm Length 1/16 Steel Wire with Loop Crimped Ends | 2 |
| Spring Snap Hook Carabiners | 8 |
| C-Clamps | 4 |
| M2.5x6s | 20 |
| M3x8s | 10 |
| M3x12s | 5 |
| M5x8b | 25 |
| M5x10b | 50 |
| M5x12b | 20 |
| M5x14b | 25 |
| M3 T-Driver | 1 |
| WX Leader Pair Bag | 1 |
| Large Electronics (Cameras + Computer) | |
| Control Laptop (Delayed) | 1 |
| Intel RealSense D405 | 4 |
| Small Electronics | |
| USB 3.0 A Male to Micro B Male, Right Angled with Locking Screws | 4 |
| USB 3.0 A Male to USB 3.0 Female Extension 10ft | 2 |
| USB 3.0 A to B Cable in Black, 6 ft | 2 |
| Foot pedal switch (Delayed) | 1 |
| Sabrent 7-Port USB Hub | 2 |
| Belkin Power Strip Surge Protector - 10 AC Outlets, 15ft Heavy Duty Metal Extension Cord | 1 |
| 3D Printed Components | |
| Overhead Cam Mount | 1 |
| Worms-Eye Cam Mount | 1 |
| ViperX Wrist Cam Mount | 2 |
| WX Wrist Clip | 2 |
| 2040 USB Cable Clip | 3 |
| 2020 USB Cable Clip | 20 |
| Robots | |
| Aloha ViperX 300 6DOF | 2 |
| Aloha WidowX 250 6DOF | 2 |
| Aloha Finger Bag | 2 |
| 12v20a Power Supply | 2 |
| 12v10a Power Supply | 2 |
| USB-A to Micro USB, 10 Foot, Black | 4 |
aloha训练需要用到高配置电脑，下面是官方使用的笔记本硬件清单
Ubuntu 22.04 LTS5.8 GHz i9-14900HX32 GB DDR5 4800 MHz (2x 16GB)1 TB PCIe4 M.2 SSDWiFi 6E + Bluetooth 58 GB GeForce RTX 4060 with 3072 CUDA Cores17.3” Matte 2K QHD (240Hz) Display
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