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수직다관절로봇
수직다관절 로봇
Model (MOTOMAN)
HP3
HP6
HP20
HP165
Type
YR-HP3-A00
YR-HP6-A00
YR-HP20-A00
YR-HP165-A00
Controlled Axis
6(Verticaly articulated)
Payload
3kg
6kg
20kg
165kg
Repetability
1)
±0.03mm
±0.08mm
±0.06mm
±0.2mm
Range
of
Motion
S-axis(turning)
±170˚
±170˚
±180˚
±180˚
L-axis(lover arm)
+150˚ to -45˚
+155˚ to -90˚
+155˚ to -110˚
+76˚ to -60˚
U-axis(upper arm)
+210˚ to -152˚
+250˚ to -175˚
+255˚ to -165˚
+230˚ to -142.5˚
R-axis(wrist roll)
±190˚
±180˚
±200˚
±360˚
B-axis(wrist pitch/yaw)
±125˚
±125˚ to -45˚
±230˚ to -50˚
±130˚
T-axis(wrist twist)
±360˚
±360˚
±360˚
±360˚
Maximun
Speed
S-axis(turning)
3.66rad/s.210˚/s
2.62rad/s.150˚/s
2.96rad/s.170˚/s
1.92rad/s.110˚/s
L-axis(lover arm)
3.14rad/s.180˚/s
2.79rad/s.160˚/s
2.96rad/s.107˚/s
1.92rad/s.110˚/s
U-axis(upper arm)
3.93rad/s.180˚/s
2.97rad/s.170˚/s
3.05rad/s.175˚/s
1.92rad/s.110˚/s
R-axis(wrist roll)
6.54rad/s.180˚/s
5.93rad/s.340˚/s
6.20rad/s.355˚/s
3.05rad/s.175˚/s
B-axis(wrist pitch/yaw)
6.54rad/s.180˚/s
5.93rad/s.340˚/s
6.02rad/s.345˚/s
2.53rad/s.145˚/s
T-axis(wrist twist)
8.73rad/s.180˚/s
9.08rad/s.520˚/s
9.16rad/s.525˚/s
4.19rad/s.240˚/s
Allowable
Moment
R-axis(wrist roll)
7.25Nm
11.8Nm
31.4Nm
921Nm
B-axis(wrist pitch/yaw)
7.25Nm
9.8Nm
31.4Nm
921Nm
T-axis(wrist twist)
5.21Nm
5.9Nm
15.7Nm
490Nm
Allowable
Inertia
(GD2/4)
R-axis(wrist roll)
0.30kg·m2
0.24kg·m2
0.7kg·m2
85kg·m2
B-axis(wrist pitch/yaw)
0.30kg·m2
0.17kg·m2
0.7kg·m2
85kg·m2
T-axis(wrist twist)
0.1kg·m2
0.06kg·m2
0.2kg·m2
45kg·m2
Mass
45kg
130kg
280kg
1100kg
Ambient
Conditions
Temperature
0℃ to +45℃
Humidity
20 to 80%RH(non-condensing)
Vibration
Less than 4.9m/s2
Others
·Free from corrosive gasses or liquids, or explosive gasses
·Clean and dry
·Free from excessive electricalnoise(plaama)
Power Requirements
2)
1kVA
1.5kVA
2.8kVA
7.5kVA
1)
Conforms to JIS B8432
2)
Varies in accordance with applications and motion patterns.
SI units are used for specification
