X-WAM robot can be raised to a considerable height (such a table, for example) greatly expanding the manipulator workspace, allowing it to reach objectsat different heights. The suspension of the mobile manipulator has the ability to lower its center of gravity(COG). Lowering the COG allows it to reach speedsup to 3m/s.
On the other hand, the platform has omnidirectional or skid-steering kinematics based on 4 high-power motorwheels. Each wheel integrates a hub brushless motor with gearbox, speed sensors and optional encoder. The odometry is computed with the use ofthe four independent wheels speeds and a high precision angular sensor mounted inside the chassis. The strong mechanical structure allows the X-WAM to carry heavy loads. There are several suspension shock possibilities, which can be mounted at several positions to modify the ground clearance.
The X-WAM manipulator uses the ROS architecture.
The applications of X-WAM manipulator are numerous: