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Mobile robot with arm "MobileArm-PA10"
Description
MobileArm is a mobile robot with a robot arm for industrial applications. It consists of a platform type MP-L655 and a 7-axis robot arm PA 10 by Mitsubishi.
The frame consists of a square base that can be furnished with a casing (not included in the basic configuration). A rigid coupling enables the user to move the platform by hand, for example, in order to transport the platform or in case of a complete loss of battery power.
A battery capacity control system enables the user to check the battery capacity and will switch off the platform in time in order to prevent the batteries from deep discharging.
The system has the following properties:
- Stable aluminum frame
- Modular design
- Easy adjustment to new applications
- Compliance with BG regulations for the operation in public buildings, when equipped with a bumper
- Easy adaptation to the modification requested by customers
Details
General:
- Square footprint: 655 mm x 655 mm
- Diameter: 844 mm
- Platform height: 560 mm
- Autonomy: 8 hours
- Weight: 190 kg
- Payload: 60 kg
- Translation speed: > 1 m/s
- Rotation speed: > 90 °/s
- Computer: Windows 2000 Professional Pentium III
- Ram: 256 MB
- Hard disk: 10 GB HD
- Analogue and digital I/Os
- 15'' flat display
- Bus: CAN Bus
- Electric: Battery: 48V / 84Ah
- Main voltage: 48V
- Auxiliary voltages: 5V, 12V, 24V
- Sensors: Sick laser scanner LMS 200
- High resolution wheel encoders (4096 increments/motor rotation)
- Precision gyro
- Drives: Sine wave commutated brush-less servo drives (maintenance-free) with built in controllers and backlash-free gears
- Safety: All high-capacity wires of drives are connected by safety relays that comply with German safety regulations. In emergency stop mode all drives are disconnected from the power supply and the fail-safe brakes are locked. A contact of the bumper causes the same effect.
- Kinematik: Two different types of kinematics are available: A) Two suspension differential drives in the rotary center of the platform (2 castor wheels at the front, 1 castor wheel at the back). B) Two differential drives at the front of the platform (1 castor wheel at the back).
- Benefit: Ability to rotate on the spot, spring-suspended drive wheels. Benefit: Increased stability, ability to deal with higher bumpiness in comparison to Type A), no suspension necessary.
- Manipulator: Manipulator Mitsubishi PA-10
- Weight: 35 Kg
- Payload: 10 Kg
- Number of Axes: 7
- Speed: 1550 mm/s
- Accuracy: ±0,1 mm
- Arm length: 950 mm
- Protection: Dust proof, drip proof