Department of Mechanical Engineering

Mechatronics Lab

Number of Axis / Height			6 / 522 mm
Joint Actuators			Servo motor (With Encoder)
Transmission			Belt drive, Ball screws, Elbow & Gear drive
Joints			Ball Bearings
Gripper			Angular Jaws Type (Detachable)
Gripper Actuator			Pneumatic
Motor	Waist	J1	340°
	Shoulder	J2	45°
	Elbow	J3	45° (Dependent on Shoulder)
	Wrist	J4	340°
	Pitch	J5	180°
	Roll	J6	340°
Control Software			Specially Developed Robot Programming Language
Path Type			Point-to-Point, Continuous Path, Liner and Circular
Communication			Ethernet
Power Supply			230 V AC, 50 / 60 Hz and 5A
Pay Load (Including Gripper)			3 Kg
Repeatability			± 0.3 mm
Horizontal Reach			654 mm
Tip Speed			0.2 m/Sec
Position Feedback			Optical Encoder (HP 2 phase 500 PPR)
Operating Temperature			18° C to 40° C
Mounting Method			Floor
Controller			PC Based Ethernet Port
Applications			Pick & Place Applications Palletizing Kit, Stacking
Weight	Body		35 Kg
	Control Box		35 Kg

geo	Standard/ Oil mist/ Cleanroom
Protection degree	Standard/ Oil mist/ Cleanroom
Installation	Floor type, ceiling type, (wall-mounted type *2)
Structure	Vertical multiple-joint type
Degrees of freedom	6
Drive system	AC servo motor
Position detection method	Absolute encoder
Maximum load capacity	Maximum 7 (Rated 7) *8 kg
Arm length	435+470 mm
Maximum reach radius	908 mm
Operating range J1	480 (±240)
Operating range J2	240 (-110 to +130)
Operating range J3	162 (-0 to +162)
Operating range J4	400 (±200)
Operating range J5	240 (-120 to +120)
Operating range J6	720 (±360)
Maximum speed J1 / J2 / J3 / J4 / J5 / J6	288 / 321 / 360 / 337 / 450 / 720 deg/sec
Maximum composite speed *3	10977 mm/sec
Cycle time *4	0.35 sec
Position repeatability	±0.02 mm
Ambient temperature	0 to 40 °C
Mass	67 kg
Tolerable moment J4 / J5 / J6	16.2 / 16.2 / 6.86 Nm
Tolerable amount of inertia J4 / J5 / J6	0.45 / 0.45 / 0.10 kgm2
Tool wiring	Gripper: 8 input points, Signal cable for the multi-function gripper, LAN × 1 <100 BASE-TX> *5
Tool pneumatic pipes	Primary: ø6 × 2 Secondary: ø4 × 8, ø4 × 4 (from base portion to forearm)
Machine cable Connected controller *6	5m (connector on both ends) CR800-D, CR800-R 5m (connector on both ends)

Size (H x D x W)	48.32 x 395.22 x 420.59 mm
Battery / Capacity	Lithium / 20Ah/300v
Moving Parts Head	Mic, RGB Cameras
Sensors	3D, Touch, IR Obstacle, Electronic Compass
Moving Part Body	Gyroscope & Human Body Sensors 2 x DOF Horizontal -180°, Vertical -37°
Moving Part Hand	IR evading Obstacle Sensors, Touch Sensors 1x2(L/R) DOF, 1x2(L/R) DOF
Moving Part Leg	IR evading Obstacle Sensors, Omni Wheels. 3 x DOF, 3 x DOF
Video	8.0 MP HD Camera 1.0 MP HD Colour camera with 140° aspheric surface angle
Display	10.1 inch 1080 P HD 10-Point touch screen
Sound	Voice Control, 360° sound localization tweeter, Subwoofer
Wifi / Wireless Network	IEEE802.11a/b/g/n (2.4GHz/5GHz) / ZigBee
Lights	250 Customized Colours, 2 cycle for ears, 2Pcs for hands, & 1 cycle or chassis
Function	The robot should be actuated based on voice recognition, It also be controlled by gesture action