PiPER Robotic Arm Quick Start User Manual AgileX Robotics
PiPER ROBOTIC ARM
Buka ea ho qala ka potlako ea mosebelisi V 1 . 0
2024.09
Boitsebiso ba Bohlokoa ba Tšireletseho
Khaolo ena e na le lintlha tsa bohlokoa tsa polokeho. Motho kapa mokhatlo ofe kapa ofe o tlameha ho bala le ho utloisisa tlhahisoleseling ena pele o sebelisa sesebelisoa, haholo pele o se bula khetlo la pele. Ho bohlokoa ho latela le ho latela litaelo tsohle tsa kopano le litataiso bukeng ena. Ela hloko ka ho khetheha mongolo o amanang le matšoao a lemosang. Pele o sebelisa sesebelisoa, etsa bonnete ba hore o fumana le ho bala "PiPER User Manual." Haeba u na le lipotso mabapi le tšebeliso, ikutloe u lokolohile ho ikopanya le rona ho support@agilex.ai.
Letshwao la tlhokomediso: 
Sena se bolela maemo a ka bakang kotsi, ao haeba a sa qojoe, a ka bakang kotsi ea botho, tšenyo ea thepa le tšenyo e khōlō ea thepa.
Tlhokomediso: Songling Robot Co., Limited (Lebitso la Brand: AgileX Robotics. Hereinafter e bitsoa AgileX Robotics. ) e ke ke ea jara boikarabelo haeba letsoho la robotiki le senyehile, le fetotsoe kapa le fetotsoe ka tsela leha e le efe. AgileX Robotics e ke ke ea jara boikarabello bakeng sa tšenyo leha e le efe ea letsoho la robotiki kapa thepa leha e le efe e bakoang ke liphoso tsa lenaneo kapa ho hlōleha ha ts'ebetso.
Moeli oa Boikarabello: Hang ha letsoho la robotiki le se le sebelisoa, ho nkoa hore u balile, ua utloisisa, u amohetse, 'me u amohetse lipehelo le likahare tsohle tsa bukana ea mosebelisi ea sehlahisoa sena le tlhaiso-leseling ea polokeho. Mosebelisi o itlama ho ikarabella bakeng sa liketso tsa bona le litlamorao tsohle tse hlahang ho bona. Mosebelisi o lumela ho sebelisa letsoho la robotiki feela bakeng sa merero e nepahetseng mme o amohela lipehelo tsena, hammoho le maano kapa litataiso tse amehang tseo AgileX Robotics e ka li thehang. Nakong ea ts'ebeliso ea letsoho la robotiki, ka kopo latela ka botlalo le ho latela litlhoko tse boletsoeng, empa li sa felle feela, bukaneng ea mosebelisi le tlhaiso-leseling ea polokeho. AgileX Robotics e ke ke ea ikarabella bakeng sa kotsi leha e le efe ea botho, likotsi, tšenyo ea thepa, likhohlano tsa molao, kapa likhohlano tsa thahasello tse bakoang ke tšebeliso e fosahetseng kapa matla a maholo. Letsoho la robotiki ha lea lokela batho ba ka tlase ho lilemo tse 18 kapa ba hlokang matla a felletseng a sechaba. Ka kopo etsa bonnete ba hore batho ba joalo ha ba kopane le sehlahisoa sena, 'me u nke mehato e hlokolosi ha u sebelisa sesebelisoa moo ba leng teng.
Lintlha tse bukeng ena ha li kenyelle moralo, ho kenya, le ts'ebetso ea ts'ebetso e felletseng ea letsoho la robotiki, ebile ha e kenyelle lisebelisoa tsohle tse ka bang teng tse ka amang polokeho ea sistimi eohle. Moralo le tshebediso ya sistimi e felletseng e tlameha ho tsamaelana le ditlhoko tsa polokeho tse thehilweng ke maemo le melawana ya naha moo ho kentsweng letsoho la roboto.
Ke boikarabello ba mohokahanyi oa letsoho la liroboto le moreki oa ho qetela ho etsa bonnete ba ho latela melaoana e amehang le melao e sebetsang, ho netefatsa hore ha ho na likotsi tse kholo tse teng ts'ebelisong e felletseng ea letsoho la robotiki. Sena se kenyelletsa, empa ha se felle feela ho, tse latelang:
1. Katleho le Boikarabelo
- Etsa tlhahlobo ea kotsi bakeng sa tsamaiso e feletseng ea letsoho la robotiki.
- Hokela lisebelisoa tse ling tsa polokeho bakeng sa mechini e meng joalo ka ha ho hlalositsoe tlhahlobong ea kotsi.
- Netefatsa moralo o nepahetseng le ho kengoa ha sistimi eohle ea letsoho ea liroboto, ho kenyeletsoa ka bobeli software le hardware.
- Mohokahanyi le moreki oa ho qetela ba tlameha ho latela melaoana e amehang le litlhoko tse sebetsang tsa molao bakeng sa tlhahlobo ea polokeho ho netefatsa hore letsoho le ntlafalitsoeng la robotiki ha le na likotsi tse kholo kapa likotsi tsa polokeho lits'ebetsong tsa nnete.
- Ela hloko likotsi life kapa life tse ka bang teng tsa polokeho pele o sebelisa le ho sebelisa sesebelisoa.
- Netefatsa hore basebelisi ha ba fetole mehato ea tšireletso.
- Bokella litokomane tsohle tsa tekheniki files, ho kenyeletsoa tlhahlobo ea kotsi le bukana ena.
2. Tikoloho
- Pele o sebelisoa, bala bukana ena ka hloko ho utloisisa ts'ebetso ea mantlha le litataiso tsa ts'ebeliso.
- Khetha sebaka se batlang se bulehile bakeng sa tšebeliso, kaha letsoho la robotiki ha le tle le li-sensor tsa ho qoba litšitiso kapa ho utloa.
- Sebelisa letsoho la robotiki sebakeng se nang le mocheso o pakeng tsa -20°C le 50°C.
- Haeba letsoho la robotiki le sa etsoa ka mokhoa o ikhethileng ka tekanyo e itseng ea tšireletso ea IP, ho hanyetsa metsi le lerōle ho lekantsoe ho IP22.
3. Hlahloba
- Netefatsa hore letsoho la robotiki ha le na lintho tse sa tloaelehang tse bonahalang.
- Etsa bonnete ba hore ho na le khokahanyo e nepahetseng ea marapo a marang-rang nakong ea tšebeliso.
4. Ts'ebetso
- Etsa bonnete ba hore sebaka se potolohileng se bulehile nakong ea ts'ebetso.
- Sebetsa ka har'a sebaka sa pono.
- Boholo ba moputso oa letsoho la robotiki ke 1.5KG; etsa bonnete ba hore mojaro o sebetsang hantle ha o fete 1.5KG nakong ea ts'ebeliso.
- Haeba lisebelisoa li bontša lintho tse sa tloaelehang, khaotsa ho li sebelisa hang-hang ho qoba tšenyo ea bobeli.
- Haeba ho etsahala lintho tse sa tloaelehang, ikopanye le basebetsi ba amehang ba tekheniki 'me u se ke ua sebetsana le tsona ka bouena.
- Sebelisa lisebelisoa tikolohong e fihlelang litlhoko tsa litekanyetso tsa ts'ireletso ea IP.
5. Litemoso “
- Etsa bonnete ba hore letsoho la robotiki le lisebelisoa / li-effectors li lula li tsitsitse ka nepo le ka mokhoa o sireletsehileng.
- Haeba u tlameha ho kena sebakeng sa ho sebetsa sa letsoho la robotiki, roala likhalase tsa tšireletso le lisebelisoa tsa ho itšireletsa ho itšireletsa.
- Netefatsa hore letsoho la robotiki le na le sebaka se lekaneng bakeng sa ho tsamaea ka bolokolohi.
- Netefatsa hore mehato ea polokeho e theoa joalo ka ha e hlalositsoe tlhahlobong ea kotsi.
- U se ke ua apara liaparo tse hlephileng ha u ntse u sebelisa letsoho la robotiki. Tlama moriri o molelele ka morao ha o sebelisa letsoho la robotiki.
- Se ke oa sebelisa letsoho la robotiki haeba le senyehile kapa le bontša lintho tse sa tloaelehang.
- Haeba software ea komporo e amohelang molaetsa e bonts'a melaetsa ea liphoso, hang hang emisa ts'ohanyetso 'me u ikopanye le basebetsi ba amehang.
- Netefatsa hore batho ba boloka lihlooho, lifahleho kapa litho tse ling tsa 'mele hole le letsoho la robotiki kapa sebakeng seo letsoho la roboti le ka fihlang ho sona nakong ea ts'ebetso.
- Le ka mohla u se ke ua fetola letsoho la robotiki. Ho fetola letsoho la robotiki ho ka hlahisa likotsi tse sa lebelloang bakeng sa mohokahanyi.
- Se ke oa pepesa letsoho la roboto libakeng tse sa feleng tsa makenete. Matla a khoheli a matla a ka senya letsoho la robotiki.
- Letsoho la robotiki le hlahisa mocheso nakong ea ts'ebetso. Se ke oa tšoara kapa ua tšoara letsoho la robotiki ha e ntse e sebetsa kapa nakoana ka mor'a hore e khaotse, kaha ho kopana nako e telele ho ka baka ho se thabise. Tlosa sistimi 'me u eme hora hore letsoho la robotiki le phomole.
- Ho kopanya mechine e fapaneng hammoho ho ka eketsa kotsi kapa ho hlahisa likotsi tse ncha. Kamehla etsa tlhahlobo e felletseng ea kotsi bakeng sa ts'ebetso eohle. Ho latela tlhahlobo ea kotsi, maemo a fapaneng a ts'ireletso a ts'ebetso a ka sebetsa; ka hona, ha maemo a fapaneng a ts'ireletso le ts'ebetso ea ts'ohanyetso a hlokahala, kamehla khetha boemo bo phahameng ka ho fetisisa ba ts'ebetso. Bala kamehla 'me u utloisise libuka tsa lisebelisoa bakeng sa lisebelisoa tsohle tse sebelisoang ho kenya.
- Letsoho la robotiki ha lea lokela ho sebelisoa ke batho ba ka tlase ho lilemo tse 18 kapa ba se nang matla a felletseng a sechaba.
1. Selelekela
Letsoho lena la liroboto tse 6 tsa DOF li etselitsoe indasteri ea thuto le lipatlisiso ka ho khetheha, lits'ebetso tsa boemo ba bareki, le boiketsetso ba indasteri. Ka matla a ho patala a 1.5kg, e loketse lits'ebetso tse fapaneng tsa lipatlisiso le tsa indasteri, ho kenyeletsoa liroboto tsa humanoid, kopano ea othomathiki, le ho sebetsana ka boiketsetso. Likarolo tse tšeletseng tse potolohang li fana ka phetoho e feletseng ea ts'ebetso, ho netefatsa ho nepahala ho phahameng le ho pheta-pheta. Letsoho la robotiki le na le moralo oa modular, o etsang hore ho be bonolo ho o hlokomela le ho o ntlafatsa. E fana ka sebopeho se hlakileng sa mosebelisi se nolofatsang mananeo le ts'ebetso, ho lumella le bao e seng litsebi ho qala kapele. E ka sebelisoa haholo mafapheng a kang lipatlisiso tsa mahlale, thuto, tlhahiso ea likoloi, kopano ea lisebelisoa tsa elektroniki, ts'ebetso ea lijo, boiketsetso ba laboratori, le ts'ebetso ea lisebelisoa tsa bongaka.
1.1. Lenane la ho Paka
| Lebitso | Bongata |
| 6 DOFs Letsoho la robotic | 1 |
| USB ho CAN module | 1 |
| Adapter ea matla | 1 |
| Cable ea Micro USB | 1 |
| Motlakase le mohala oa puisano | 1 |
| Li-screws tsa motheo | 4 |
| Motheo oa ho kenya wrench | 1 |
2. Tšebeliso ea Motheo
Letsoho la robotiki le na le li-DOF tse 6 le moputso oa 1.5kg qetellong. Likarolo tse tšeletseng tse potolohang li fana ka phetoho e feletseng ea ts'ebetso, ho netefatsa ho nepahala ho phahameng le ho pheta-pheta. E na le moralo o bobebe, o lumellang letsoho la robotiki hore le fihlelle bokhoni ba ho sisinyeha ka potlako ha le ntse le boloka matla a ho lefa haholo. E ka sebelisoa haholo ho bohlale bo kentsoeng bakeng sa pokello ea data ea lefatše la 'nete.
- Konopo ya ho ruta/pontsho
- Phanele ea motlakase
2.1. Selelekela sa Interface ea Motlakase
2.1.1 Litaelo tsa Panel ea Motlakase ea Robotic Arm
- Boema-kepe ba matla le puisano
- Leseli la Pontšo ea Boemo
- Boema-kepe ba khokahano ea J1 & J2
2.1.2 Litaelo tsa plug ea sefofane
1: Boema-kepe ba matla le puisano
2: Leseli la sesupo sa boemo
3: boema-kepe ba khokahano ea J1J2
4: Matla a matle
5: Matla a fosahetseng
6: KA-H
7: KA-L
Hlokomela: Hlophisa letheba le lefubedu le letheba le lefubedu le tsamaisanang le thapo. Sebaka se entsoeng ka sebopeho sa sehokelo se etselitsoe ho hula ka tlas'a matla. Nakong ea ho kenya, lekanya letheba le khubelu ho ea tlase le ntlha e hlaheletseng 'me u le kenye ka ho toba. Ho e tlosa, tobetsa sebakeng se entsoeng 'me u se hule.
2.1.3 Khokahano ea KA
KA Khokahano le Boitokisetso
Etella pele thapo ea CAN 'me u hokele lithapo tsa CAN_H le tsa CAN_L ho adaptara ea CAN_TO_USB.
Hokela adaptara ea CAN_TO_USB boema-kepeng ba USB ba laptop. Setšoantšo sa khokahano se bontšoa ho Setšoantšo sa 3.4.
Phepelo ea motlakase kantle:
1. Khubelu: VCC (Battery positive)
2. E Ntšo: GMD (Battery negative)
KA SEBELE:
3. Bosehla: CAN_H
4. Putsoa: CAN_L
Tlhokomeliso: Haeba u sebelisa tjhaja e sa tloaelehang, motlakase ha oa lokela ho feta 26V, 'me oa hona joale ha oa lokela ho ba ka tlase ho 10A.
2.2. Litaelo tsa Mokhoa oa ho Ruta Lephaka la Robotic / Pontšo
Boemo ba mokhoa oa ho hula le ho ruta oa letsoho la robotiki bo bontšoa ke lebone la konopo lipakeng tsa J5 le J6.
Ho na le mefuta e meraro ea lipontšo tsa mabone a boemo ba letsoho la robotiki:
1. Ha ho pontšo ea khanya: Mokhoa oa ho hula le ho ruta oa robotic o emisitsoe, kapa rekoto ea ho hula e felile.
2. Leseli le tiileng le letala: Letsoho la robotiki le kene mokhoeng oa ho hula le ho ruta bakeng sa ho rekota trajectory.
3. Lebone le letala le benyang: Letsoho la robotiki le kene tseleng ea ho hula le ho ruta bakeng sa ho bapala hape.
Mokhoa oa ho fetola mokhoa oa ho hula:
- Konopo e le 'ngoe ea ho tobetsa: Fetolela lipakeng tsa ho hula ruta ho rekota le ho emisa ho rekota.
- Tobetsa habeli konopo: E kenya tshebetsong mokgwa wa ho bapalla ruta ho hula.
Litaelo:
Taba ea pele, hlokomela boemo ba leseli la sesupo:
- Haeba lebone le timme, tobetsa konopo hang. Lebone le letala le lokela ho fetoha le tiileng, ho bontša hore mosebelisi a ka hula letsoho la robotiki ho qala ho rekota tsela.
- Haeba lebone le timme 'me ho rekotiloe tsela e fetileng, tobetsa konopo habeli. Lebone le letala le lokela ho bonesa ka mor'a 500ms, ho bontša hore letsoho la robotiki le ntse le bapala 'me le tla hlahisa tsela e rekotiloeng.
- Haeba lebone le tiile, le bontša hore ho ntse ho tsoela pele ho rekota trajectory. Ho emisa ho rekota, tobetsa konopo hang; lebone le lokela ho tima, ho bontša hore ho rekota ho felile. Haeba u batla ho bapala trajectory, latela mohato oa 2.
- Haeba lebone le benya, letsoho la roboti hajoale le ntse le bapala.
Lintlha:
- Nakong ea ho bapala, mosebelisi o tlameha ho lula hole le letsoho la roboto ho qoba kotsi.
- Nako le nako ha letsoho la robotiki le kena ho ruta mokhoa oa ho rekota trajectory, trajectory e rekotiloeng pele e ea hlakoloa. Mokhoa oa ho bapala o tla sebelisa mokhoa oa morao-rao o rekotiloeng.
- Nako e phahameng ea ho rekota trajectory ke metsotso ea 3; tsela efe kapa efe e fetang nako ena e tla be e sa sebetse.
- Kamora ho qeta thuto ea ho hula, etsa bonnete ba hore lebone la sesupo le koetsoe/mokhoa oa ho ruta o emisitsoe.
- Haeba u batla ho fetohela ho taolo ea komporo e amohelang kapa taolo ea litaelo, etsa bonnete ba hore lebone la sesupo le koetsoe/mokhoa oa thuto oa hula o emisitsoe.
Ebe u fetohela ho boemo ba standby ka khomphutha e amohelang, 'me ka mor'a ho kena boemong ba standby, fetohela ho CAN mode. Hoa sebetsa le taolong ea taelo- qala ka ho fetohela ho boemo ba standby, ebe o fetohela ho CAN control mode.
Tlhokomeliso: Ha u tloha mocheng oa khokahanyo 'me u ruta ka ho hulela mokhoa oa ho laola CAN, letsoho la robotiki le tlameha ho behoa sebakeng sa zero pele le fetola mekhoa. Ntlha ea zero e bontšoa setšoantšong se ka tlase:
Robotic Arm Zero Point
2.3. Litaelo tsa ho Kenya Motheo
Sebaka sa letsoho sa robotic se kenngoa ho sebelisoa li-screws bakeng sa ho lokisa. Motheo o na le likoti tse 'nè tse entsoeng pele tsa M5. Thepa ea lisebelisoa e kenyelletsa li-screws tse 'ne tsa M5, tse ka tiisoang ka sesebelisoa sa hex se fanoeng. Sebaka sa lesoba ke 70mm. Haeba o hloka ho hokela setsi ho lisebelisoa tsa mehala kapa sebaka se tsitsitseng, o ka rala sebopeho se ts'oanang le sebaka sa lesoba sa 70mm.
2.4. Qetella Litaelo tsa ho Kenya Karolo
Qetello e ka hlomelloa ka lisebelisoa tse ling ka flange. Lisebelisoa tseo u ka li khethang li kenyelletsa gripper ea menoana e 'meli le pendant ea ho ruta. Mokhoa oa ho kenya o bontšitsoe setšoantšong se ka tlase. Lintlha tsa lisebelisoa tsa ho tšoara menoana e 'meli le lisebelisoa tsa ho ruta li ka fumanoa ho litlhaloso tsa tekheniki qetellong.
3. Litaelo tsa Tšebeliso ea Lik'homphieutha tsa ArmRobotUA
Khoasollo ea Software: Sehokelo: https://drive.google.com/file/d/1771e87UGdkGwgVuO4XFAio8x4Uajmneh/view?usp=drive_link U sebelisa PC e nang le Windows 7 kapa ho feta, tobetsa habeli ho bula komporo ea moamoheli. Ka software ena ea ho sebelisana le mochini oa motho, o ka sebelisa letsoho la robotiki mme oa bala lintlha tsa maikutlo ho tsoa marangrang a kantle a letsoho la robotiki. Sebopeho sa mosebedisi se bontšoa ka tsela e latelang:
Software ea moamoheli
Host Computer Operation Interface
Mabitso a libaka tse sebetsang ho phanele ea software ea khomphutha e amohelang
| Index | Lebitso |
| 1 | Konopo ea Puisano ea Letsoho la Robotic |
| 2 | Menu Options |
| 3 | Lebelo Percentage Setting |
| 4 | Konopo ea ho bulela Arm ea Robotic |
| 5 | Konopo ea ho Stop Emergency Arm Robotic |
| 6 | Fesetere Resize / Koala Likonopo |
| 7 | Sebaka sa Ts'ebetso ea Ts'ebetso |
| 8 | 3D Ketsiso ea Mohlala |
| 9 | Mosebetsi oa Laebrari ea Trajectory |
| 10 | Boemo ba Kopanelo ea Letsoho la Robotic |
| 11 | Sebaka sa Boemo sa Robotic Arm |
4. Ntlafatso ea Bobeli
Hajoale, letsoho la robotiki le ts'ehetsa nts'etsopele ea bobeli ka sephutheloana sa mokhanni oa Python SDK le ROS1. Bakeng sa litaelo tse qaqileng tsa ntlafatso ea bobeli, ka kopo sheba sehokelo sa GitHub.
SDK:https://github.com/agilexrobotics/piper_sdk ROS1:https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha ROS2:https://github.com/agilexrobotics/Piper_ros/tree/ros-foxy-no-aloha
5. Lintlha tsa Setegeniki
Litlhaloso tsa Arm Robotic:
| Mofuta oa Parameter | Ntho | Tlhaloso |
| Lisebelisoa tsa Sebopeho | Mekhahlelo ea Tokoloho | 6 |
| Mojaro o Atlehang | 1.5KG | |
| Boima ba 'mele | 4.2KG | |
| Pheta-pheta | ±.0.1mm | |
| Ho sebetsa Radius | 626.75 limilimithara | |
| Phepelo e Tloaelehileng ea Matla Moqtage | DC24V (Min: 24V, Max: 26V) | |
| Tšebeliso ea Matla | Matla a Matla ≤ 120W, Matla a Pharalletseng ≤ 40W | |
| Lintho tse bonahalang | Aluminium Alloy Frame, Shell ea polasetiki | |
| Molaoli | Kopantsoeng | |
| Mokhoa oa Puisano | KA | |
| Mokhoa oa ho Laola | Ruta ka ho hula / Offline Trajectory / API / Host Computer | |
| Li-interface tsa ka ntle | Sehokelo sa Matla x1, KAKA Sehokelo x1 | |
| Base Installation Size | 70mm x 70mm x M5 x 4 | |
| Tikoloho ea Mosebetsi | Mocheso: -20 ho isa ho 50 ℃, Mongobo: 25% -85%, Ha o condensing | |
| Lerata | <60dB | |
| Ho kenya | E lumellana le lihlahisoa tsohle tsa liroboto tsa AgileX | |
| Mekhahlelo ea Motion: | Range e Kopanetsoeng ea Motion | J1: +154° J2:0°~195° J3:-175°~0° J4:-106°~106° J5:-75°~75° J6: +100° |
| Manonyeletso Max Speed | J1:180°/s J2:195°/s J3:180°/s J4:225°/s J5:225°/s J6:225°/s |
|
| Tlhokomeliso: Lintlha tse ka holimo ke liphetho tsa liteko tsa letsoho la liroboto tsa AgileX sebakeng se laoloang sa liteko. Liphetho li ka fapana tlasa maemo a fapaneng le mekhoa ea ts'ebeliso. Boiphihlelo ba sebele bo lokela ho nahanoa. | ||
Litlhaloso tse ikhethileng tsa molateli oa Gripper:
| Li-parameter tsa Gripper tsa menoana e 'meli | |
| Boima ba 'mele | 500g |
| Ho nepahala | ±.0.5mm |
| Bohole ba ho Bula | 0-70 limilimithara |
| E fuoe Clamping Matla | 40N |
| Max Clamping Matla | 50N |
| Phepelo ea motlakase Voltage | DC24V |
| Tšebeliso ea Matla | Matla a Matla ≤ 50W, Matla a Pharalletseng ≤ 30W |
| Ikopanye le Boitsebiso ba Sefahleho | Rabara |
| Molaoli | Kopantsoeng |
| Mokhoa oa Puisano | KA |
| Mokhoa oa ho Laola | Ruta ka ho hula / Offline Trajectory / API / Host Computer |
| Li-interface tsa ka ntle | Sehokelo sa Matla x1, KAKA Sehokelo x1 |
| Mokhoa oa ho kenya | Thaba ea Flange |
| Tikoloho ea Mosebetsi | Mocheso: -20 ho isa ho 50 ℃, Mongobo: 25% -85%, Ha o condensing |
| Lerata | <60dB |
| Tlhokomeliso: Lintlha tse ka holimo ke liphetho tsa liteko tsa AgileX sebakeng se laoloang sa tlhahlobo. Liphetho li ka fapana tlasa maemo a fapaneng le mekhoa ea ts'ebeliso; boiphihlelo ba sebele bo lokela ho nahanoa. | |
Litlhaloso tsa khetho ea moetapele oa gripper:
| Li-Parameters tsa Sesebelisoa sa ho Ruta | |
| Boima ba 'mele | 500g |
| Ho nepahala | ±.0.5mm |
| Bohole ba ho Bula | 0-70 limilimithara |
| E fuoe Clamping Matla | 40N (Taolo ea Matla, Matla a Feedback) |
| Max Clamping Matla | 50N (Taolo ea Matla, Matla a Feedback) |
| Phepelo ea motlakase Voltage | DC24V |
| Tšebeliso ea Matla | Matla a Matla ≤ 50W, Matla a Pharalletseng ≤ 30W |
| Ikopanye le Boitsebiso ba Sefahleho | Rabara |
| Molaoli | Kopantsoeng |
| Mokhoa oa Puisano | KA |
| Mokhoa oa ho Laola | Ruta ka ho hula / Offline Trajectory / API / Host Computer |
| Li-interface tsa ka ntle | Sehokelo sa Matla x1, KAKA Sehokelo x1 |
| Mokhoa oa ho kenya | Thaba ea Flange |
| Tikoloho ea Mosebetsi | Mocheso: -20 ho isa ho 50 ℃, Mongobo: 25% -85%, Ha o condensing |
| Lerata | <60dB |
| Tlhokomeliso: Lintlha tse ka holimo ke liphetho tsa liteko tsa AgileX sebakeng se laoloang sa tlhahlobo. Liphetho li ka fapana tlasa maemo a fapaneng le mekhoa ea ts'ebeliso; boiphihlelo ba sebele bo lokela ho nahanoa. | |
Liroboto tsa AgileX
Litokomane / Lisebelisoa
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AGILE X Piper Robotic Arm [pdf] Bukana ea Mosebelisi Letsoho la Piper Robotic, Arm ea Robotic, Arm |
