ATI Force Torque Sensor
The ATI Mini-40 6-axis force torque sensor is an excellent option for directly sensing the interaction forces of the A2 manipulator. It mounts to the A2 tool frame and is compatible with the H2 and G2 quick-mount. Signal conditioning and M3 EtherCAT interface are provided in the A2 forearm, keeping the system free of hanging cables.
Hand Cameras
We provide an optional Point Grey FireFly MV camera for the H2 hand. Using a custom enclosure, the camera is compact and mounts to the side of the hand adjacent to the thumb. The FireWire camera to this camera is routed through the A2 manipulator, keeping the system free of hanging cables.
Power Supply
Meka systems include a standard external 24V 500W DC power supply that can deliver high peak currents. We recommend a “bulk” unregulated power supply for this purpose. Switching power supplies usually have the same peak and continuous current ratings, forcing you to purchase a large but under-worked power supply. This enclosed 24V/20A bulk unregulated supply can be used as a secondary supply for your system. It includes a standard Meka power cable.
Real Time PC
Meka systems ship with a Real Time PC (RTPC) preconfigured with M3, ROS, RTAI Linux, and EtherLAB EtherCAT. An EtherCAT compatible NIC is required on the motherboard or an expansion card. Installation instructions are available on the wiki to setup your own machine, or Meka can provide a preconfigured a RTPC to meet your specifications.
Mounting Pedestal
The Mounting Pedestal provides a secure and aesthetically pleasing way to statically mount a Meka manipulator system. It is designed to allow the arms to swing freely without collision, and places the shoulder at a natural human height. The cast-iron base can be bolted to the floor.
E-Stop
The E-Stop provides a safety power shutdown to the system motor power and is compatible with standard CAT-5/6 Ethernet cables. It comes standard with all Meka systems, but we can provide you a replacement when you need it.
M3EC Development Kit
Interested in developing your own M3 hardware peripheral? Meka can provide you with a development board for our M3EC DSP controller that is compatible with our EtherCAT enabled Real Time Control PC. (Coming soon).