Linear Bot
Linear Bot is the Flow Base combined with a vertical linear rail actuator. The linear rail adds a height axis to the omnidirectional base, enabling the mounted YAM arm to reach objects at varying heights — from floor-level to shelf-height — without repositioning.
System Architecture
┌─────────────────────────┐
│ YAM Arm │ ← 6-DOF manipulation
├─────────────────────────┤
│ Linear Rail │ ← Vertical axis (Z height)
├─────────────────────────┤
│ Flow Base │ ← XY + rotation (holonomic)
└─────────────────────────┘The three subsystems are controlled together through a unified Python API, giving the robot 9 degrees of freedom (6-DOF arm + 3-DOF mobile base including linear rail).
Key Features
- Vertical height axis — linear rail extends and retracts under API or remote control
- Limit switches — hardware safety stops at both rail ends; auto-home on initialization
- Brake management — brake automatically released on init, engaged on shutdown
- Integrated API — 4D base velocity commands
[x, y, θ, rail_vel] - Safety timeouts — both base and rail stop after 0.25 s without a heartbeat
Specifications
| Parameter | Value |
|---|---|
| Mobile base | Flow Base (holonomic) |
| Vertical actuator | Linear rail with DM-series motor |
| Arm (typical) | YAM or YAM Pro |
| Total DOF (arm + base + rail) | 9 |
| Rail control | Velocity [rad/s] |
| Rail velocity timeout | 0.25 s |
| Rail home | Lower limit (on init) |
Photos & Videos
Python API
from i2rt.flow_base.flow_base_client import FlowBaseClient
client = FlowBaseClient(host="172.6.2.20", with_linear_rail=True)
# Move forward + raise rail simultaneously
client.set_target_velocity([0.1, 0.0, 0.0, 0.05], frame="local")
# x y θ rail_vel
# Get rail position and limit switch states
state = client.get_linear_rail_state()
print(state) # {'position': ..., 'velocity': ..., 'limit_switches': ...}
# Stop rail
client.set_linear_rail_velocity(0.0)Important Notes
Auto-homing on init
The linear rail homes to the lower limit switch on every initialization. Ensure there is clearance below the carriage before powering on.
Stopping the rail
Always set velocity to 0.0 to stop the rail. Do not try to engage the brake directly — the system manages brake state automatically.
Pricing
Starting at $18,999. Contact sales@i2rt.com for configuration options.
See Also
- Flow Base — base-only configuration
- Flow Base API
- YAM Arm Series