Our robot arm is a 7 DoF custom arm made of 1 prismatic joint (elavator) and 6 revolute joints. The prismatic joint is moved by a DC motor and and a ball screw. The 6 revolute joints are made with MX-106 and MX-64 Dynamixel motors. For the moment, the gripper is made of 4 AX-12 dynamixel motors, but we plan to use 2 strong « classical » servo connected on a board with dynamixel emulation on RS-485.
The arm payload is 1.5Kg but the provisory gripper can’t bear that much (slip)
The arm is controlled with moveit and use invert kinematics