6DOF PowerCube Manipulator with 4 kg payload
Axes/DOF | 6 (roll-pitch-roll-pitch-roll-pitch) |
|---|---|
Operation range | 1390 x 1240 x 1390 mm³ |
Envelope | 1450 dm³ |
Payload | 4 kg |
Repeated accuracy | 0.1 mm |
Power supply | 24V DC / max. 20 A |
Control | PC control (Linux or Windows) using CAN-Bus interface |
Fail safeness | All joints equipped with permanent magnet brakes (except joint 6) |
6DOF Modular Robotic System in R-P-R-P-R-P configuration
Performance | Force/Torque nom. | . Force/Torque max. | Weight [kg] | Accuracy |
|---|---|---|---|---|
Joint 1 PR090 | 72 Nm | 145 Nm | 3.2 | ± 6 arcsec |
Joint 2 PR090 | 72 Nm | 145 Nm | 3.2 | ± 6 arcsec |
Joint 3 PR070 | 23 Nm | 46 Nm | 1.7 | ± 6 arcsec |
Joint 4 PR070 | 23 Nm | 46 Nm | 1.7 | ± 6 arcsec |
Joint 5 PW070 | 12 Nm | 24 Nm | 1.8 | ± 6 arcsec |
Joint 6 PW070 | 2 Nm | 4 Nm | 1.8 | ± 6 arcsec |
Specification of joints
DH-Parameters | Phi | D | A | Alpha |
|---|---|---|---|---|
Joint 1 PR090 | 0.00 | 0.00 | 0.00 | -90.00 |
Joint 2 PR090 | -90.00 | 313.00 | 0.00 | 90.00 |
Joint 3 PR070 | 0.00 | 0.00 | 0.00 | -90.00 |
Joint 4 PR070 | 180.00 | 293.50 | 0.00 | -90.00 |
Joint 5 PW070 | -90.00 | 0.00 | 140.00 | 180.00 |
Joint 6 PW070 | 90.00 | 0.00 | 0.00 | 90.00 |
DH-Parameters 6DOF Modular Robotic System
