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 LTS
- 5.8 GHz i9-14900HX
- 32 GB DDR5 4800 MHz (2x 16GB)
- 1 TB PCIe4 M.2 SSD
- WiFi 6E + Bluetooth 5
- 8 GB GeForce RTX 4060 with 3072 CUDA Cores
- 17.3” Matte 2K QHD (240Hz) Display

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