GENERAL
– Total Weight: 8.2 kg (no gripper)
– Payload:
+ 4 kg (mid-range continuous; no gripper)
+ 4.5 kg (full-reach peak/temporary; no gripper)
+ 1.1 kg (full-reach continuous; no gripper)
– Actuator joint range after start-up(software limitation): Infinite1
– Maximum Cartesian translation speed:
– Low-level: 40 cm/s (recommended)
– High-level: 30 cm/s
– Power supply voltage: 18 to 31 VDC, 24 VDC nominal
– Average power: 36 W (25 W in standby)
– Peak power: 155 W
– Water resistance:
+ Arm: IP33
+ Base / controller: IP33
– Operating temperature: -30 °C to 35 °C
– Materials:
+ Carbon fiber
+ Aluminium
– Maximum reach: 902 mm
– Degrees of freedom: 7 DoF
– Actuator sensors: Torque, position, velocity, current (motor), voltage, temperature (motor)
– Actuators:
+ Large: joints #1, 2, 3, 4
+ Small: joints #5, 6, 7
BASE CONTROLLER
– Software: KINOVA® KORTEX™
– Internal communications: 2 x Fast Ethernet (100 Mbps)
– API compatibility: Windows 10, Linux Ubuntu 16.04, ROS Kinetic
– Programming languages: C++, Python, MATLAB2
– Supported web browser: Google Chrome 64+
– Controller interfaces
– Control system frequency: 1 kHz
– Servoing modes: High-level, low-level, low-level bypass
– Low-level control: Position, velocity, current3, torque3
– High-level control: Cartesian position/velocity, joint position/velocity, force3, torque3
– Controller sensors: Voltage, current, accelerometer, temperature and gyroscope
INTERFACE MODULE
– Các giao diện:
+ RS-4853
+ Ethernet: 100 Mbps
+ GPIO3
+ I2C 3
+ UART 3
+ Power: 24 V
– Vision module:
+ Color sensor
+ Depth sensor
+ Interface sensors: Accelerometer and gyroscope, voltage, temperature