adept technology Adept Cobra i600, Руководство пользователя

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Robot Specifications
Adept Cobra i600/i800 Robot User’s Guide, Rev E 125
8.2 Robot Specifications
Table 8-1. Adept Cobra i600/i800 Robot Specifications
a
Description i600 Robot i800 Robot
Reach 600 mm (23.6 in) 800 mm (31.5 in)
Payload - rated 2.0 kg (4.4 lb) 2.0 kg (4.4 lb)
Payload - maximum 5.5 kg (12.1 lb) 5.5 kg (12.1 lb)
Moment of Inertia Joint 4 - 450 kg-cm²
(150 lb-in²) - max Joint 4 - 450 kg-cm²
(150 lb-in²) - max
Downward Push Force -
Burst - (no load) 343 N (77 lb) - maximum 298 N (67 lb) - maximum
Lateral/Side Push Force -
Burst 178 N (40 lb) - maximum 133 N (30 lb) - maximum
Adept Cycle - Burst (no J4 rotation)
b
0 kg 0.42 sec 0.48 sec
2 kg 0.42 sec 0.54 sec
5.5 kg 0.53 sec 0.64 sec
Adept Cycle - Burst (180° J4 rotation)
0 kg 0.42 sec 0.48 sec
2 kg 0.42 sec 0.54 sec
5.5 kg 0.59 sec 0.76 sec
Adept Cycle - Sustained (no J4 rotation)
b
0 kg 0.42 sec at 20° C
0.48 sec at 40° C 0.48 sec at 20° C
0.51 sec at 40° C
2 kg 0.45 sec at 20° C
0.51 sec at 40° C 0.54 sec at 20° C
0.54 sec at 40° C
5.5 kg 0.58 sec at 20° C
0.64 sec at 40° C 0.70 sec at 20° C
0.70 sec at 40° C
Adept Cycle - Sustained (180° J4 rotation)
0 kg 0.42 sec at 20° C
0.48 sec at 40° C 0.48 sec at 20° C
0.48 sec at 40° C
2 kg 0.45 sec at 20° C
0.51 sec at 40° C 0.54 sec at 20° C
0.61 sec at 40° C
5.5 kg 0.80 sec at 20° C
0.86 sec at 40° C 0.77 sec at 20° C
0.91 sec at 40° C
Repeatability
x, y ±0.017 mm (±0.00067 in.) ±0.017 mm (±0.00067 in.)
z ±0.003 mm (±0.00012 in.) ±0.003 mm (±0.00012 in.)
Theta ±0.019° ±0.019°