Gripper
Key features
The OpenArm 2.0 end-effector is designed with a simple actuation mechanism to keep the overall size compact. Compared with the previous version, this makes it easier to perform tasks in confined spaces, such as reaching into narrow areas.
A built-in camera is integrated inside the case, enabling direct acquisition of in-hand vision during grasping. The finger geometry is designed not only to provide stable grasping performance, but also to minimize blind spots and maintain a clear field of view while handling objects.
The finger components are also designed to be easily replaceable, providing a flexible development platform where users can customize and improve the finger design for their specific tasks, or evaluate specialized geometries optimized for particular objects and applications.
Camera
The in-hand camera is an Arducam B0495, one per arm. It is a USB camera that works as a standard UVC device, so no additional driver is required. See Camera setup for how to set up the cameras on Linux.
| Parameter | Arducam B0495 |
|---|---|
| Datasheet | Datasheet of B0495 |
| Sensor | AR0234 (color, global shutter) |
| Optical Format | 1/2.6" |
| Resolution | 1920×1200 (2.3MP) |
| Frame Rate (USB 3.0) | 1920×1200 @ 50 fps, 960×600 @ 80 fps |
| Frame Rate (USB 2.0) | 960×600 @ 10 fps |
| Output Format | YUY2 |
| FOV | 95° (D) × 82° (H) × 66° (V) |
| Lens | M12 mount, EFL 3.6 mm, F3.0 |
| Focus Type | Manual focus |
| Default Focus Range | 2 m – ∞ |
| Interface | USB 3.2 Gen 1 (backward compatible with USB 2.0), Type-C, UVC |
| Power | 5 V, 1.45 W max |
These are the specifications of the camera module in the Arducam datasheet. The effective field of view inside the gripper, including occlusion by the fingers, is not documented yet.