Acrobot

6-DoF Robotic Arm for research and teaching
ACROME Acrobot is a robot-arm system with custom joint options to be used as a test bed for collaborative robotics, intelligent control systems, and Industry 4.0.
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REFERENCE CUSTOMERS

OVERVIEW

ACROBOT 6-DOF Robot Arm, with its high technology joint actuators, is a hands-on experiment, closing the gap between real industrial systems and DIY- approach. Users can understand the complex inverse kinematics algorithms and quickly prototype new motion control architecture for industrial parallel kinematics robots. ACROBOT enables the students and researchers to design complex applications and gives them access to the world of industry 4.0. Completely open source software makes it possible that researchers can modify and test their developed algorithms.

SOFTWARE OPTIONS

LabVIEW, Real-Time (optional), FPGA (optional)
Altair Activate
Executable & GUI
Python
LabVIEW, Real-Time, FPGA (optional)
Python and OpenCV
API for External Control (Examples for LV, Matlab, Python)
MatLab/Simulink
C with STM32 software
API for External Control (Examples for LV, Matlab, Python)
* Different controllers may require

CONTROLLER OPTIONS

USB (PC based)
Raspberry Pi + Shield
NI myRIO
Arduino Mega + Shield

APPLICATION AREAS

Professional Photography
Medical Applications
Wearable Items
Quality Assurance
Engineering Research Applications
Positioners' Algorithm Research
Starting From
$7,499
Stewart platform
Ready to use GUI
API for external programming
Customization options available
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SPECIFICATIONS

4" Version
Customizations Options
Payload
12 kgs (26,5 lbs)
Up to 150 kgs (331 lbs)
Workspace Options
X and Y Axis +/-60 mm
Z Axis +/-50 mm
Roll, Pitch, Yaw +/- 20°  
Up to +/-300 mm
Up to +/-150 mm
Up to +/- 45°  
Position Repeatability
+/- 100 µm
Down to +/- 25 µm
Angular Sensivity
0.2°
Down to 0.1°
Max. Linear Speed
40 mm/sec.
Up to 80 mm/sec.
Height (min-max)
406-506 mm
330-920 mm
Platform Diameter
320 mm
250-1000+ mm
Base Diameter
450 mm
450-1000+ mm
Weight
14 kgs (31 lbs)
Based on custom options

FEATURES

Assembled 6 DOF serial kinematic arm robot

Aluminum Cast Joint Structure

Every joint has a high resolution absolute encoder after gear reduction. +/- 0.1 mm repeatability

Actuating the robot by high precision smart servo actuators (3.5 – 4.5 arcmin backlash)

2 kg payload at maximum reach. 960 mm workspace

Position, velocity, and torque (Electrical current sensing) can be controlled

Fully compatible with MATLAB®/Simulink® and LabVIEW™

Denevit-Hartenberg convention model for serial kinematic arm robot in MATLAB®/Simulink® and LabVIEW™

Enables users to create their own real-time algorithms

Open source software architecture with extensive courseware, suitable for undergraduate and graduate courses of robotics and control systems

CURRICULUM

COMPONENTS OF ACROBOT
Smart Servo Motors Controller
ACROME Power Unit
RS485 to Serial Converter Module
Mechanics of the System
FUNDAMENTALS OF SERIAL KINEMATIC CHAINS
DenavitHartenberg Convention
Forward Kinematics
Inverse Kinematics
TRAJECTORY GENERATION
General Considerations in Path Description and Generation
Cartesian Space Schemes
Joint Space Schemes
Cubic Polynomials
Higher Order Polynomials
Linear Function with Parabolic Blends
LINEAR CONTROL OF MANIPULATORS
Feedback and Closed-Loop Control
Control of Second Order Linear Systems
Trajectory Following Control
Modeling and Control of a single Joint
PROGRAMMING
Computer Interface of Robotic Software
Program Tab
Creating Motion Sets
Command Tasks
Structure Options
Graphics Tab
Move Tab
XYZ Coordinate Move
End Effector Move
Joint Angle Move
SPECIFICATIONS

*We offer customization in our product upon customer’s request.

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This article provides information on building a 4-DoF robotic arm in a do-it-yourself fashion. The bill of materials information and links to CAD files of the linkage and mounting parts are given. The article recommends using Smart Motor Drivers for controlling the actuators, as this will make things easier and cleaner in cabling.

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This article provides information on building a 4-DoF robotic arm in a do-it-yourself fashion. The bill of materials information and links to CAD files of the linkage and mounting parts are given. The article recommends using Smart Motor Drivers for controlling the actuators, as this will make things easier and cleaner in cabling.

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ITU Science Park, ARI4 Building
No: B204 Maslak 34469
Istanbul Turkey
+90 212 807 04 56
info@acrome.net

ITU Science Park, ARI4 Building
No: B204 Maslak 34469
Istanbul Turkey
+90 212 807 04 56
info@acrome.net

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