Why We're Giving Away Free Robots(medium.com) |
Why We're Giving Away Free Robots(medium.com) |
"Guide the arm through a motion, which it replays flawlessly" -- ok, I assume it has servo motors with encoders.
The motors are in the base with timing belts extending to the joints? Backlash? Rigidity?
What's it made of? I assume it is not carbon fiber. :-)
KATIA plugs into a normal wall jack (120/240v single-phase), so you don't need to be wired for 360v three-phase power like you would with other industrial robots.
We also don't use any steppers or hobby servos like you would find on a toy arm. When we say the performance of an industrial arm, we mean it. We've built highly integrated, custom permanent magnet synchronous motors with 14-bit absolute rotary position sensors built into each joint.
Furthermore, the arm has been designed from the ground up for zero-backlash operation, and the rigidity is insane -- we're gettting less than one hundreth of a millimeter of transient deflection during our worst-case stress testing.
And it is made out of carbon fiber, because that's just how we roll.
14 bit = 2^14 = 16384. Optical or some kind of hall-effect? I am going to guess hall-effect.
When I read "permanent magnet synchronous motor" I think stepper-ish motor. Is that what the joints are? No gearbox, custom stepper-ish motor, with the 14-bit encoder giving feedback not just on the position, but also the load?
What voltage do these custom motors run on? I will guess .... 48V.
It is a very sleek-looking arm.
the 14-bit encoder giving feedback not just on the
position, but also the load?