Technical Specifications

MECHANICAL

TYPE

6DOF Parallel 6RSS Platform

Number of axis

6

Pose repeatability

±1.0 mm

Weight

1.2 kg

Cubical workspace (Safe limits)

50mm × 50mm × 50mm

Maximum Displacements

X ~ 160mm, Y ~ 160mm, Z ~ 85mm

Maximum Angular Displacements

Roll ~ 35°, Pitch ~ 40°, Yaw ~ 60°

Payload

2 kg (at 12.0V)

Operating temperature

-5°C to +80°C

Mounting position

Floor, ceiling, walls, floating

Size

Hexagon Base of size 14 cm and 5.5 cm

Material, Surface finish, Color

Base stand: PLA 3D printed plastic, Red, Blue, Yellow, Green, Black, or White. Can be metal on demand

Joint Level Accuracy

0.29°

Minimum Incremental Motion X,Y,Z

1.5mm

Maximum Velocity

0.5m/s

Maximum Joint Torque

5.5N.m

Maximum Joint Speed

354°/second

Sound Level

<50dB

Top Platform

Modified for more agility and light weight. Provision for mounting sensors and gripper.

ELECTRICAL


Operating Voltage

12.0V (Recommended)

Maximum Current

5.4A at Full load

Standby Current

300mA

Connecting Cable

Single 3-Wire cable for Communication and Power

Actuator Characteristics

Full metal gear PID adjustable using seperate Actuator GUI Contactless absolute encoder (12 bit for 360°) Feedback: Position, Temperature Position or VelocityControl

Power Supply

110/220 V to 12V

SOFTWARE


Supported platforms

PC with Mac or Linux (Ubuntu, Debian, Raspberry Pi, or other distributions.)

Programming Compatibility

MATLAB, Python, Java, C/C++, C#, LabView, ROS.

Communication

USB to TTL (Daisychain - Half duplex Asynchronous Serial Communication)

API Compatibility

Python, ROS

Included GUI Features

Cartesian Jogging for Position and Orientation
PTP Motion using Cycloidal, Cubic, Quintic, and Cosine trajectories Controllers : Virtual using mouse,Android App or 3D Joystick Programmed motions : Planar/Vertical SHM, Spiral,Lissajous, Helical, Precession
Live plot for joint angles for any cartesian motion, end-effector homogeneous transformation matrix, error logs
Mouse interactive 3D visualization and standard views buttons
Trace feature for end-effector motion visualization
Inbuilt safety feature for singularity check and joint angle limits