OpenManipulator-X
A tabletop robot arm from ROBOTIS: five Dynamixel servos — four arm joints and a gripper — on a TTL multidrop bus, with 380 mm of reach and a 500 g payload. It never moves from its base plate, and it has no battery at all: a 12 V supply plugs into the wall.
Spec
| Actuators | 5× XM430-W350-T Dynamixel servos, TTL multidrop bus |
|---|---|
| Dof | 5 (4 arm joints + gripper) |
| Gripper stroke | 20–75 mm (e-Manual specification) |
| Payload | 500 g (e-Manual specification) |
| Power | 12 V DC supply — no onboard battery |
| Reach | 380 mm (e-Manual specification) |
| Weight | 0.70 kg — the e-Manual figure excludes the base plate; the URDF's link masses sum to 0.594 kg |
examples/openmanipulator-x.jsonActuators, input voltage, DOF, payload, weight, reach and gripper stroke all from the ROBOTIS e-Manual's OpenManipulator-X specification page. The e-Manual states the 0.70 kg weight excludes the base plate; the official URDF's seven link masses sum to 0.594 kg, recorded in the spec's component masses. The spec's width is the gripper's maximum stroke (75 mm) and its height the radial reach — an arm has no body box; both are labeled with what they mean. Power is a 12 V DC supply, modeled in the spec's battery slot with chemistry 'dc_supply' and zero capacity, because the arm carries no battery.Gate runs
The motion gate covers ground robots today. This class has no gate yet, so there is no verdict to show — the note below says why, in the entry's own words.
No recorded gate runs yet. This robot has no verdict until one is measured.
Harness checks
Electrical computations over this robot's documented wiring graph — voltage drop, ampacity, logic levels, rail budgets, connector matching. Not a gate run and not a simulation: each check is Checked, Partial or Not checked, and the headline is counts, never a blanket pass.
3 checked clean · 0 with warnings · 0 with errors · 1 partial · 6 not checked · missing data: current_a for motors ×5, cable.gauge_awg ×4, cable.length_mm ×2
| Check | Checked | Partial | Not checked |
|---|---|---|---|
| voltage drop | 0 | 0 | 2 |
| ampacity | 0 | 0 | 2 |
| logic levels | 1 | 0 | 0 |
| rail budget | 0 | 1 | 1 |
| connector match | 2 | 0 | 1 |
Findings: none — the inputs that could be checked raised nothing. That is not the same as everything being checked; the counts above say how much was.
Missing data — the datasheets still to hunt. A check that could not run says what it needs:
| Missing input | Blocks | Needed by |
|---|---|---|
current_a for motors | 5 | battery -> opencr, opencr -> motors, opencr rail |
cable.gauge_awg | 4 | battery -> opencr, opencr -> motors |
cable.length_mm | 2 | battery -> opencr, opencr -> motors |
connector at both ends (connector_from / connector_to) | 1 | battery -> opencr |
current_a for opencr | 1 | battery rail |
rated output current for battery | 1 | battery rail |
Report: catalog/harness-reports/openmanipulator-x.json · checked 2026-10-27 · reproduce with robotforge harness examples/openmanipulator-x.json
Take it apart
This viewer derives a schematic take-apart straight from the spec's numbers — the same one-derivation rule as the ground kits — flat views, or in 3D with the toggle. It is a schematic of the real robot's layout, not a printable kit: robotforge cad kits cover ground robots only today. Click any part.
examples/openmanipulator-x.json…Reproduce it
Run these from a clone of the repository. The twin, CAD kit and motion gate (urdf / cad / run-gate) cover ground robots today, so they are not listed here.
robotforge validate examples/openmanipulator-x.json
robotforge catalog robot 11
robotforge harness examples/openmanipulator-x.json