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6 DOF Robotic Arm

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6 DOF Robotic Arm

6 DOF industrial robotic arm is a typical industrial robot that is used in automatic pick and place, installation, welding, painting, etc. The new GRB serial industrial robot combines the motion control technology together with advanced educational concept and fulfills both the industrial needs as well as the education and research needs in motion planning and industrial system design. The robot uses 6-joint in serial design. Each joint uses absolute encoder and high precision harmonic gearbox to ensure the accuracy. Camera, pneumatic tools and some other interfaces are preserved at the end effecter for user to extend the robot for other usage. The robot is controlled by the newly developed VME bus controller which integrates PC, image processing technology, logic control and motion control to achieve high speed, high accuracy control of the robot.

Function

Description

Arm Length

J3 to J2

720 mm

J2 to J1

150 mm

J5 to J3

645 mm

J4 to J3

150 mm

Range of Motion

Radius

P to J1

1537 mm

R3

356 mm

Angle

J1

±180 deg

J2

-105, +175 deg

J3

-235, +85 deg

J4

±180 deg

J5

-40, +220 deg

J6

±360 deg

Max. Speed

End Effecter Speed

>8000 mm/s

J1

140 deg/s

J2

180 deg/s

J3

225 deg/s

J4

450 deg/s

J5

450 deg/s

J6

545 deg/s

Resolution

J1

2048000 pulse /r

J2

1638400 pulse /r

J3

1310720 pulse /r

J4

655360 pulse /r

J5

655360 pulse /r

J6

540672 pulse /r

Repeatability

X/Y/Z

+-0.08 mm

Allowable Moment

J4

0.3 kg*m2

J5

0.3 kg*m2

J6

0.2 kg*m2

Payload

6 kg

Mass

140 kg

VME Controller

Axis No.

8-Axis Servo / Stepper Motor

PC

X86 Architecture, Celeron 1.6G, USB2.0, 10M/100M Ethernet

Keyboard, Mouse, VGA, CF Card Slot

Image Processing (Optional)

Dual video input, PAL, NTSC

Installation

Environment

Temperature: 0 45C

Humidity: 20-80%RH (No dew.)

Vibration: below 0.5g

Avoid contact with inflammable and corrosive liquid or gas.

Keep away from electrical noise sources.

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