Last modified by Eric Nantel on 2024/10/21 14:50
From version < 74.1 >
edited by Eric Nantel
on 2024/08/06 12:23
To version < 76.1 >
edited by Coleman Benson
on 2024/10/08 11:34
< >
Change comment: There is no comment for this version

Summary

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1 -xwiki:XWiki.ENantel
1 +xwiki:XWiki.CBenson
Content
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37 37  
38 38  * Degrees of Freedom (DoF): 5
39 39  * Payload: 2Kg (no gripper)
40 -* Max speed (cartesian):
41 41  * Collision detection: No
42 -* ROS 2: Coming soon
41 +* Horizontal reach: 550mm (no gripper)
42 +* Vertical reach: 630mm
43 43  
44 44  **Mechanical**
45 45  
46 -* Horizontal reach:
47 -* Vertical reach:
46 +* Motors: NEMA 23 & 17
47 +* Gearing: 100:1 Strain wave (aka “Harmonic drive”)
48 48  
49 49  (% style="width:600px" %)
50 -|(% style="text-align:center" %)**Location**|(% style="text-align:center" %)**Type**|(% style="text-align:center" %)**Static Torque**|(% style="text-align:center" %)
51 -|Joint 1 / Base|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
52 -|Joint 2 / Shoulder|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
53 -|Joint 3 / Elbow|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
50 +|(% style="text-align:center" %)**Location**|(% style="text-align:center" %)**Type**|(% style="text-align:center" %)**Torque**|(% style="text-align:center" %)
51 +|Joint 1 / Base|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %)Up to 80Nm|(% style="text-align:center" %)±180°
52 +|Joint 2 / Shoulder|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %)Up to 80Nm|(% style="text-align:center" %)±180°
53 +|Joint 3 / Elbow|(% style="text-align:center" %)LSS-P-S1|(% style="text-align:center" %)Up to 80Nm|(% style="text-align:center" %)±180°
54 54  |Joint 4 / Wrist Roll (fixed)|(% style="text-align:center" %)LSS-P-TC|(% style="text-align:center" %)-|(% style="text-align:center" %)-
55 -|Joint 5 / Wrist Pitch|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
56 -|Joint 6 / Wrist Yaw|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %) |(% style="text-align:center" %)±180°
55 +|Joint 5 / Wrist Pitch|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %)Up to 18Nm|(% style="text-align:center" %)±180°
56 +|Joint 6 / Wrist Yaw|(% style="text-align:center" %)LSS-P-L1|(% style="text-align:center" %)Up to 18Nm|(% style="text-align:center" %)±180°
57 57  
58 58  **Electrical**
59 59  
60 -* Input voltage: 30V (nominal)
61 -* Max current:
62 -* Wall adapter: 120V - 220V
63 -* Battery power alternative: 8 cell (8S)
60 +* Power Supply: 120V - 220V AC to 36V DC
61 +* Emergency Stop Button & Protection Fues
62 +* Type B (USA) Plug (Standard Power Cable)
63 +* Battery power alternative: 8 cell (8S) or 9 cell (9S)
64 64  * Wiring: external
65 65  
66 66  **Communication**
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67 67  
68 68  * Communication method: CAN Bus
69 69  * Communication protocol: LSS-P (human readable)
70 -* Motor: NEMA 17 & 24
71 -* Gearing: Strain wave (aka “Harmonic drive”)
72 72  * Safety: Emergency stop button & software stop
73 -* Joint angle: 360 (restricted by external cables)
74 74  
75 75  = User Guides =
76 76  
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