4-Axis Robot Arm

4-Axis Robot Arm

3-DoF serial-parallel robotic arm for education with additional slider motion
ACROME 4-axis robotic arm is an educational serial-parallel manipulator with an extra slider axis, suitable for teaching kinematics concepts and pick and place applications.
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OVERVIEW

ACROME 4-Axis Robot Arm, with its user friendly components, is a hands-on robotic experiment system, suitable for teaching robotics mainpulators and applications in an optimized way. Open source example codes make it possible for students and researchers to modify and test their algorithms. With built-in pneumatic gripper and slider rail, it is a compact and comprehensive tool for robotics education and research.
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SMD PRODUCTS

SMD - RED

Smart Brushed Motor Driver with Speed, Position and Current Control Modes

$79.00
Buy From RobotShop

SMD - Starter Kit

For SMD RED Smart Brushed Motor Driver (Recommended for New Users)

$210.00
Buy From RobotShop

SMD - Education Kit

For Teaching Robotics, Sensors, and Actuators

$1,200.00
Buy From RobotShop

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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PRODUCT PHOTOS

SPECIFICATIONS

Standard Unit
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 Sensitivity
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
350 mm (hexagonal)
250-1000+ mm
Base Diameter
450 mm (hexagonal)
450-1000+ mm
Weight
14 kgs (31 lbs)
Based on custom options

SPECIFICATIONS

Payload
1 kg.
Workspace
100 - 230 mm. (-/+ 5 mm.) in X,Y - 260 mm. (-/+ 5 mm) in Z.
Position Repeatability
± 5 mm.
Angular Sensitivity
1 °
Max. Speed
0.166s / 60°
Height (min-max)
20 mm - 260 mm (-/+ 5 mm)
Height
Rod Height
Platform Dimensions (Length * Width)
580 mm * 98 mm (-/+ 2 mm)
Base Dimensions (Length * Width)
97 mm * 63 mm
Weight
3.6 kg
Propeller Wingspan
Ball Diameter
Magnet Diameter
Rod's Diameter
Motor Type
DC Stepper Motors
Feedback Sensors
Optional camera
Power Requirement
12Vdc - 3A

FEATURES

Assembled 4-Axis serial-parallel kinematic arm robot

Aluminum, Reliable Structure

Linear slider for enhanced workspace

Actuating the robot by precision stepper motors

1 kg payload at maximum reach. 100 - 230 mm. (-/+ 5 mm.) workspace

Position can be controlled

Compatible with MATLAB®/Simulink® and Python

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

Enables users to create their own robotic applications

Open source software architecture with extensive courseware, suitable for undergraduate and graduate studies

FAQs

What is 4-Axis Robot Arm?
4-Axis Robot Arm is the new member of the Acrobot series. It is an open-source, accessible serial kinematics robotic arms built by ACROME.
What is the 4-Axis Robot Arm used for?
4-Axis Robot Arm is used for teaching robotic algorithms and showcase robotic applications. Users can use existing example algorithms or can develop their own controls and serial kinematic algorithms.
Does the product have built-in kinematics solver?
Yes. The courseware has rich example codes including the kinematics calculations with documentation.
Does it have a gripper?
Yes it has a vacuum end-effector to grip the objects having flat surfaces.
Does the product comes with a controller and software/courseware?
Product comes with the controller, software and a companion courseware with example source codes.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via phone, e-mail or remote desktop connection.

CURRICULUM

COMPONENTS OF ACROBOT
Stepper Motors Controller
ACROME Power Unit
Mechanics of the System
FUNDAMENTALS OF SERIAL KINEMATIC CHAINS
DenavitHartenberg Convention
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
Info Sheet Download
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SPECIFICATIONS

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

RELATED ARTICLES

Building a 4-DoF Serial Robotic Arm with Smart Motion Devices

10
Min

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 Motion Devices 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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