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Five-axis Industrial Manipulator

Specifications Model SCORBOT ER – 4U
Mechanical Structure Vertical articulated
Number of Axes 5 axes plus servo gripper
Axis Movement Axis 1: Base rotation:- 310°

Axis 2: Shoulder rotation:- +130° / –35°

Axis 3: Elbow rotation:- 130°

Axis 4: Wrist pitch:- 130°

Axis 5: Wrist roll:- Unlimited (mechanically); 570° (electrically)

Maximum Operating Radius 610 mm (24.4″)
End Effector DC servo gripper, with optical encoder,parallel finger motion; Measurement of object’s size by means of gripper sensor and software.
Maximum Gripper Opening 75 mm (3″) without rubber pads65 mm (2.6″) with rubber pads
Homing Fixed position on each axis,found by means of microswitches
Feedback Optical encoder on each axis
Actuators 12 VDC servo motors
Motor Capacity (axes 1–6) 15 oz. in Peak Torque (stall)70 W Power for Peak Torque
Gear Ratios Motors 1, 2, 3: 127.1:1Motors 4, 5: 65.5:1

Motor 6 (gripper) 19.5:1

Transmission Gears, timing belts, lead screw
Maximum Payload 1 kg (2.2 lb), including gripper
Position Repeatability 0.18 mm (0.007″) at TCP (tip of gripper)
Weight 10.8 kg (23.8 lb)
Maximum Path Velocity 600 mm/sec (23.6″/sec)
Ambient Operating Temperature 2°–40°C (36°–104°F)
Applications:
  1. Point to Point path operation
    • Pick and Place operation
    • Drilling operation
    • Assembly operation
    • Insertion of one object into another
  2. Continuous path operation
    • Welding operation
    • Painting Operation
    • Cutting along desired path
    • Moving end effecter along desired trajectories