Acrobot

Acrobot

6 DOF Robotic Arm for research and teaching

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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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.

Acrobot  overview

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
Acrobot  spesifications
SPECIFICATIONS

Work Space

Repeatability

Payload at maximum reach

Length at highest position

:

:

:

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 960 mm

 +/- 0.1mm

 2kg

 760 mm

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

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