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: Less than 0.5g
			Avoid contact with inflammable and corrosive liquid or gas.
			Keep away from electrical noise sources.