Download the Raptor Product Brochure
Raptor Force Feedback Manipulator


  • Strong - rugged heavy duty construction
  • Powerful - 500 lbs of maximum lift, 200 lbs at full extension
  • Compact - Less than 36" x 19" x 8" in stowed configuration
  • High Dexterity - 200 degrees of wrist pitch & yaw motion
  • Integral control valves - No separate valve package and hose bundle
  • Intuitive master/slave control with high fidelity force feedback
Kraft Force Feedback Mini-Master®

A Tradition of Technological Achievement

Raptor is the beneficiary of over 25 years of manipulator system development and manufacturing experience. Raptor is a mature product combining field proven technology with simplicity of design. With an emphasis on overall system reliability and field serviceability, the Raptor manipulator arm incorporates fewer components and is less complicated than any other manipulator in its class. By design Kraft manipulator arms minimize overall cost of ownership.

Kraft force feedback manipulator arms have achieved a remarkable track record by demonstrating exceptional performance and reliability in demanding undersea, nuclear, aerospace, electric utility, and military applications worldwide. When ease of operation and productivity at the work site are important, Raptor excels.

Raptor is a 7-function, hydraulically powered manipulator for use in both deep ocean and hazardous inland environments. With 64 inches of reach and a lift capacity of 500 lbs, Raptor delivers powerful manipulator performance in a compact package.

Intuitive master/slave control allows even an inexperienced operator to perform work tasks with human like motion and speed. Force feedback dramatically improves operator awareness and allows the operator to perform tasks more quickly and perform tasks of much greater complexity. In addition to improved telepresence, the compliant nature of a force feedback system greatly reduces the risk of accidental damage to both the work site and the manipulator arm.

Kraft Raptor Manipulator Arm

Raptor is capable of completing a wide variety of complex tasks in unstructured environments.

Raptor on the Monterey Bay Aquarium Research Institute (MBARI) deep diving ROV "Tiburon", allows marine scientists to complete a wide variety of tasks in the deep ocean environment.

Raptor is available with either
parallel acting, or four fingered intermeshing jaws.
Both jaw configurations can
grip ¾" diameter T-handles.
Click image to enlarge

Raptor Manipulator Jaws

Raptor's close-coupled wrist with 200 degrees of pitch and yaw motion provides high dexterity where its needed most. A high efficiency piston motor delivers "smooth" wrist roll torque, even at fractional RPM. Kraft's unique method of controlling the gripper allows the
operator to
proportionally vary the
rate of jaw closure,
and the amount of
grip force.

Raptor requires only one electrical connection and a pressure & return hydraulic connection. All valves are packaged as an integral part of the manipulator arm, eliminating the cumbersome hydraulic lines that would be necessary with a remote valve package. A square, four-bolt flange makes mounting the arm simple.

Raptor manipulator arms are used in the decommissioning of nuclear facilities worldwide. Raptor, as shown on the Red Zone "MSRS" work platform, is used in the dismantling of contaminated equipment.

Meeting The Challenge

Raptor force feedback manipulator arms are used to perform a wide variety of tasks in undersea and terrestrial environments. In applications where dexterity and physical strength are important Raptor delivers. When work must be completed in a timely manner, and with little risk of damage to the work site, the advantages provided by a high dexterity force feedback manipulator are significant.

Innovation in Control Technology

KMC 770 Advanced Operating System

The KMC 770 control system offers many standard features which enhance system performance and ease of operation. These features include:

  • One button indexing - the ability to offset master position relative to the manipulator for operator comfort.
  • Power alignment - allows the operator to realign the master with the manipulator after indexing. When initiated, the master controller will move into alignment with the manipulator under its own power.
  • Joint lock - used to selectively lock one or more axes of the manipulator so that motion at the master has no effect on the locked axis.
  • Joint scaling - the ability to alter the ratio of master arm movement to manipulator arm movement. Scaling can be established for each joint individually.
  • Joint limits - the ability to establish individual joint motion limits to prevent arm impact with peripheral equipment.
  • Proportional control of grip force - greatly enhances manipulator performance and is far superior to conventional rate or position control.
  • Auto stow/deploy - allows the operator to automatically stow or deploy the manipulator using a previously programmed routine.
  • Robotic operation - provides the ability to teach the manipulator a routine or sequence and permanently save it for execution at a later time.
  • System diagnostics - provides comprehensive tools for evaluating and troubleshooting the system.
Kraft Force Feedback Mini-Master®

As the vital link between the remote manipulator and the human operator, the Kraft force feedback mini-master® allows the operator to control complex manipulator motions in a comfortable and intuitive manner. Electric actuators on the individual joints of the master respond to the forces acting upon the manipulator arm, providing force feedback to the operator. Conveniently located switches on the master provide the operator with direct access to core manipulator functions for faster arm operation. The mini-master® is designed for comfortable left-hand or right-hand operation.

In its standard configuration the mini-master® is mounted to a compact, portable, operator control unit that can be placed on nearly any surface for operation. A color liquid crystal display allows the operator to view system information and menus. Pushbutton keys surrounding the display allow the operator to select various operating options.

US Airforce ARTS Vehicle

US Air Force "ARTS" vehicle, equipped with dual Raptor force feedback manipulator arms for the remote handling of unexploded ordnance.

US Airforce ARTS Vehicle
Raptor outline drawing and performance envelope.
Click to enlarge

Raptor Arm Specifications

Manipulator Type

Hydraulically powered 7-function


Anodized aluminum & stainless steel

Horizontal Reach

64.52" (1639 mm)

Vertical Reach

65.15" (1655 mm)

Stowed Height

35.75" (908 mm)

Maximum Lift Capacity

500 lbs (227 kg)

Lift Capacity at Full Extension

200 lbs (91 kg)

Wrist Rotate Torque

1200 in-lbs (135 Nm)

Grip Closure Force (controllable)

0-300 lbf (1334 N)

Degrees Freedom-Of-Motion

6 plus gripper





Shoulder Azimuth

Shoulder Elevation

Elbow Pivot

Wrist Pitch

Wrist Yaw

Wrist Rotate (slaved mode)

Wrist Rotate (continuous)

Jaw Opening (parallel acting)

Jaw Opening (intermeshing)

270 degrees

120 degrees

120 degrees

200 degrees

200 degrees

340 degrees

0-40 rpm

4" (100mm)

8.75" (220mm)

Weight In Air

165 lbs (80 kg)

Weight In Seawater

98 lbs (44 kg)

Operating Depth, Standard

10,000 fsw (3000 msw)

Operating Depth, Extended

21,000 fsw (6500 msw)

Hydraulic Power Requirements:

spacerOperating Pressure

spacerFlow Rate


spacerHydraulic Fluid Type


1500-3000 psi (104-207 bar)

5 gpm (19 lpm)

25 micron absolute

Petroleum / Mineral based oils

Shell Tellus® 32 (or equivalent)

MIL-H-5606 NATO Code H-515

Fire resistant Quaker Quintolubric® 822


KMC 770 Control System Specifications

Mode of Operation

Position control with force feedback

Operator Control Unit (OCU)

Portable console with color display, multi-function keys, and mini-master®

spacerDimensions (LxWxH)

15.75"x8"x3.75" (400x203x95 mm)


11.5lbs (5.2 kg)

spacerPower Requirements

Powered by OCU power chassis

spacerAmbient Temperature

Operating 0°C to +55°C
Storage -25°C to +70°C


95%RH max (non condensing)

OCU Power Chassis

Aluminum enclosure with On/Off switch and LED power indicator

spacerDimensions (LxWxH)

15.87"x12.25"x5.62" (403x311x143 mm)


35lbs (16 kg)

spacerPower Requirements


Auto select 110/220 VAC 50/60Hz
375W max, 180W typical
24VDC 265 W max, 130W typical

spacerAmbient Temperature

Operating -20°C to +55°C
Storage -40°C to +85°C


95%RH max (non condensing)

KMC 770 Servo Driver

Module, provides all necessary power, command and telemetry for the arm

spacerDimensions (LxWxH)

5"x4.25"x2.46" (127x108x62 mm)


1.4lbs (0.64 kg)

spacerPower Requirements

6-40VDC 30 Watts

spacerAmbient Temperature

Operating -20°C to +70°C
Storage -20°C to +85°C


95%RH max (non condensing)






RS-232, RS-422/485, Ethernet

Fiber Optic, (single mode/multimode)
RF (digital spread spectrum)

Stowed Raptor Manipulator


© Kraft TeleRobotics, Inc.