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Arm (DOF):
Range (mm)
Payload (kg)
Force control?
Cost (USD)
R12 (5, optional 6)
500
.5
Nope
$9,520
R17 (5, optional 6)
750
1
Nope
$14,265
Barrett WAM
(4, 7 with
hand?)
1000
4
Yes
$160,000
OUR1
(6, optional 47)
924.5
5
No, can fake through
current control
$15,000
JACO
(6)
900
2.2
Yes
$29,950
UR5
(6)
850
5
Yes, possibly weird
interface
$35,000
M10iA/7L (6)
1632
7
PaintMate 200iA (6)
740
5
$25,000
CR35iA
1813
35
SIA5F
(7)
559
5
Possibly?
SIA10F
(7)
720
10
Possibly?
SIA20F
(7)
910
20
Possibly?
MH2410
2010
10
Don’t think so
Sawyer
(7)
1260
4
Yes
$29,000
Yumi
559
.5
IRB 1600ID
(6)
1500
4
Yes
$28,500
Franka Emika
??
??
Looks possible, but in beta
$11,000
Workerbot3
1300
10
LBR IIWA 7 R800
800
7
Yes
$100,000+
PRob 2R
775
3
Yes
$28,500
Mabi Speedy 6
800
6
Nextage
1.5
Nope
ST Robotics
https://youtu.be/YyVzmJWIgc
http://www.strobotics.com/smallarticulatedrobot.htm
R12
Reach:
500mm/20in
Drives
: High power microstepped hybrid stepping motors,
optional encoder watchdogs
Repeatability:
0.1mm (but degrades with increasing torque)
Force control:
Nope
R17
http://www.strobotics.com/articulatedrobotarm.htm
Reach
: 750mm/30in
Drives
: High power microstepped hybrid stepping motors
incremental encoder watchdogs
Repeatability:
.2mm (
repeatability measured as a standard deviation
of all 3 dimensions at 100% speed and zero payload over 24 hours
after a 1 hour warming up period. Figures for ISO 9283 available on
request.)
Max torque for hand pitch or roll:
2 Nm (repeatability figures degrade
with increasing torque).
Max torque for 6 axis roll
: 0.4 Nm
High performance version max torque for hand pitch or roll:
5Nm
Force control:
Nope
Prices:
https://www.youtube.com/watch?v=BcIjFeWE4fE
Barret
Wam:
https://www.youtube.com/watch?v=KH9w_1qjZyU
http://www.barrett.com/DS_WAM.pdf
● Matching advanced electronics with inherently
backdrivable cable drives results in superbly graceful
motions. Barrett owns the technology for the highest performance servoelectronics
available in the World today. These electronics are also the smallest (43 grams) and
most powerefficient servodrive electronics available today. In fact, an entire
humansize 4dof WAMTM arm draws only 28 watts not enough to power a light bulb
further enhancing inherent safety.
● Payload Capacity: 4 Kg
● Backdrivable
● Zerobacklash and nearzero friction
● Excellent research tool: direct access to sinusoidally commutated current amplifiers for
developing advanced control algorithms
● HighLevel Cartesian Control (Trajectory and/or Force)
● Reach
: 1m
● Resolution on joint feedback:
0.005°
● Force control:
Yes, but not sure if it’s faked...believe it’s real
○ http://www.tandfonline.com/doi/abs/10.1163/016918610X538561
○ http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6095096&url=http%3A%2
F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6095096
Prices: not a super reputable source
http://www.societyofrobots.com/robotforum/index.php?topic=15306.0
Smokie Robotics
OUR1
https://youtu.be/LrfCh1bw90A
The machine vision is embedded in the controller of
OUR robots. Recognition of colors and shapes can be
easily achieved with builtin or third party software
systems such as OpenCV.
The teach pendant provides a visual operating
interface for users. OUR1 teach pendant is a 12.1
inch multitouch screen tablet with 1024*768 high
resolution, which is much more convenient for
operating. User can test, program, emulate OUR1 Robot easily via teach pendant even without
any programming experience.
http://www.robotnik.es/web/wpcontent/uploads/2015/06/OUR1DATASHEET.pdf
Reach
: 850 mm
Repeatability:
0.05 mm
Payload:
5 Kg (11 lb.)
Force control:
No evidence found, likely not
Kinova
Jaco^2 6
https://www.youtube.com/watch?v=5bBCosuHnf8
http://www.robotnik.es/web/wpcontent/uploads/2014/04/JACO2_Brochure1.pdf
Reach:
90cm
Power supply:
18 to 29 vdc
Payload: 2.2K
Force control:
Says explicitly there is force control in the tech specifications and in forum
discussion:
http://www.kinovarobotics.com/support/topic/somequestionsaboutforcecontrol/
Prices
http://www.kinovarobotics.com/servicerobotics/buildprices/robotarmsbuilder/?robotarm=jaco
http://www.robotshop.com/en/kinovaen.html
(67.5k for 23 finger hand respectively. 34,900 for
arm with 3 finger hand)
http://www.robotshop.com/en/kinovajaco26dofroboticmanipulatorwkg3gripper.html
Universal robotics
UR5 robot
https://youtu.be/Unszztoh_Pk
http://www.universalrobots.com/media/50588/ur5_en.pdf
http://www.universalrobots.com/media/8641/ur_brochure_gb.pdf
The lightweight, flexible and collaborative industrial robot UR5
from Universal Robots lets you automate repetitive and
dangerous tasks with payloads of up to 5 kg. The UR5 is ideal to
optimize lowweight collaborative processes, such as: picking,
placing and testing.
Payload:
5k/11lbs
Reach
: 850mm / 33.5in
Repeatability
: .1mm
Power supply
: 24V 2A in control box and 12V/24V 600mA in tool
Force control
: … not sure, it looks like programming this thing has to be done through it’s control
box? “Programming: Polyscope graphical user interface on 12 inch touchscreen with mounting”
Although there’s this article:
http://www.machinebuilding.net/p/p5582.htm
which says force
control was introduced back in 2013, so all in all probably yes, although how thinsg are
programmed looks weird
For robots (produced after 25/7 2012) typical tolerances are:
● Force precision: ± 10N
● Torque precision: ± 5Nm
● Position precision: ± 5mm
● Orientation precision: ± 0.5°
Robots produced before 25/7 2012, they may be less accurate in forcemode.
Force control is only available for UR5 and UR10 with software 1.6 or later.
The UR10 look to be very similar, just larger
Prices: 35k
http://blog.robotiq.com/whatisthepriceofcollaborativerobots
Fanuc
These guys have a ton of robots and it’s hard to say which one people would
have used … maybe i’ll look through some videos. My guess at the moment
is their M10iA/7L or 8L, most of the others that would be the right kind of arm
are for moving huge payloads (100k+)
M10iA/7L
https://www.youtube.com/watch?v=Cldp8p6dqQU
Payload
: 7k
Reach
: 1632mm
Repeatability: .08mm
Electrical connections: 50/60Hz 3phase [V] : 380575
http://www.fanuc.eu/~/media/files/pdf/products/robots/robotsdatasheets/datasheet%20m10ia7
l.pdf?la=en
These kinds of robots probably don’t see much unusual control, so probably not going to have a
lot of good options for control here that we need.
Paint Mate 200iA
http://www.fanuc.eu/hu/en/robots/robotfilterpage/paintseries/paintmate200ia
This fast moving paint robot offers bestinclass performance across a range of
coating and paint spraying applications. Featuring 6axis versatility and
numerous mounting possibilities, it is ideal for any number of painting
applications across a range of different industries and hazardous environments.
Reach: 704mm
Payload: 5k
Prices: 25k
http://blog.robotiq.com/whatisthepriceofcollaborativerobots
CR35iA
Payload: 35kg
Reach: 1813mm
http://www.fanuc.eu/~/media/files/video/products/robots/cr35/produktfilm_cr35_v6_800x400px.
mp4
Tech spec sheet:
http://www.fanuc.eu/~/media/files/pdf/products/robots/robotsdatasheets/datasheet%20cr35ia.p
df?la=en
Scanforpotentialarms.pdf (PDF, 1.33 MB)
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