Acrobot 6-DOF Robot Arm

6 DOF Robotic Arm for research and teaching

ACROBOT is 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. Students can understand the easyly complex inverse kinematics algorithms and can quickly cover motion control architecture for industrial parallel kinematics robots. ACROBOT enables the students to design complex applications and gives them access to the world of industrial 4.0. Completely open source software makes it possible that researchers can modify and test their developed algorithms.

FEATURES

  • Assembled 6 DOF serial kinematic arm robot
  • Aluminum Cast Joint Structure
  • Easy-connect cables and connectors
  • 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™
  • Enables students to create their own real-time algorithms.
  • Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™
  • Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems

CURRICULUM

 

  • Components of ACROBOT
    • Smart Servo Motors
    • NI myRIO
    • ACROME Power Unit
    • RS485 to Serial Converter Module
    • Mechanics of the System
  • Fundamentals of Serial Kinematic Chains
    • Denavit Hartenberg 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

Work Space: 

Repeatability: 

Payload at maximum reach:

Length at higest position:

960 mm

+/- 0.1mm

2kg

760 mm

 

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PRODUCTS