7DOF LWA Manipulator with 1,5 kg payload
Axes/DOF | 7 (roll-pitch-roll-pitch-roll-pitch-roll) |
|---|---|
Operation range | 1870 x 1650 x 1870 mm³ |
Envelope | 3350 dm³ |
Payload | 1,5 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 |
7DOF Modular Robotic System in R-P-R-P-R-P-R configuration
Performance | Force/Torque nom. | . Force/Torque max. | Weight [kg] | Accuracy |
|---|---|---|---|---|
Joint 1 PRL100 | 81.5 Nm | 176 Nm | 2.0 | ± 2 arcsec |
Joint 2 PRL100 | 81.5 Nm | 176 Nm | 2.0 | ± 2 arcsec |
Joint 3 PRL100 | 81.5 Nm | 176 Nm | 2.0 | ± 2 arcsec |
Joint 4 PRL080 | 20.1 Nm | 41.6 Nm | 1.2 | ± 2 arcsec |
Joint 5 PRL080 | 20.1 Nm | 41.6 Nm | 1.2 | ± 2 arcsec |
Joint 6 PRL080 | 20.1 Nm | 20.1 Nm | 1.2 | ± 2 arcsec |
Joint 7 PRL060 | 4.5 Nm | 9.6 Nm | 1.0 | ± 2 arcsec |
Specification of joints
DH-Parameters | Phi | D | A | Alpha |
|---|---|---|---|---|
Joint 1 PRL100 | 0.00 | 0.00 | 0.00 | -90.00 |
Joint 2 PRL100 | 180.00 | 268.00 | 0.00 | -90.00 |
Joint 3 PRL100 | 180.00 | 0.00 | 0.00 | -90.00 |
Joint 4 PRL080 | 180.00 | 303.00 | 0.00 | -90.00 |
Joint 5 PRL080 | 180.00 | 0.00 | 0.00 | -90.00 |
Joint 6 PRL080 | 180.00 | 256.50 | 0.00 | -90.00 |
Joint 7 PRL060 | 180.00 | 0.00 | 0.00 | -90.00 |
DH-Parameters 7DOF Modular Robotic System
- 7DOF Modular Robotic System in R-P-R-P-R-P-R configuration
- 7DOF Modular Robot Operation Range