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RV Cycloidal Pin Wheel Reducer
PRODUCTS
Detail
Robotmode ZDGT1215D Freedom 6 Position Ground installation and suspended
ceiling installationMaximum operating speed J1 Axis 200°/sec J2 Axis 185°/sec J3 Axis 155°/sec J4 Axis 265°/sec J5 Axis 260°/sec J6 Axis 300°/sec Maximum operating range J1 Axis ±180° J2 Axis -125°~+90° J3 Axis -84°~+205° J4 Axis ±170° J5 Axis ±125° J6 Axis ±360° Maximum activity radius 1516mm Maximum end load 12Kg Body weight About 116Kg Allowable torque J4 26N ·m J5 26N ·m J6 11Nm Allowable moment of inertia J4 0.90kg · m² J5 0.90kg · m² J6 0.30kg · m² Repeatability ±0.05mm Robot base size 290×300mm Ambienttemperature 0~45℃ Relative humidity 20~80%RH Atmospheric pressure 89KPa~106KPa(Altitude below 1000m) Vibration,impact,collision ≤0.5G Protection grade P54(Wrist IP65) ■ Work scope diagram
■ Installation interface diagram
■ Inertia tensor of the connecting rod relative to the center of mass
Object Base Rotating seat
componentsBoom components Small arm fixed seat
componentsSmall arm
componentsWrist Consult Coordinate system 0 Coordinate system 1 Coordinatesystem 2 Coordinate system 3 Coordinate system 4 Coordinate system 5 lxx(Kgmm²) / 1.0×10⁶ 1.4×10⁵ 1.2×10⁵ 2.1×10⁶ 2.0×10⁴ lyy(Kgmm²) / 1.3×10⁶ 9.7×10⁵ 1.6×10⁵ 2.1×10⁶ 1.0×10⁴ lz(Kgmm²) / 9.5×10⁵ 8.6×10⁵ 1.8×10⁵ 4.0×10⁴ 1.7×10⁴ ■ Joint coupling
Joint J1-J2 J2-J3 J3-J4 J4-J5 J4-J6 J5-J6 Coupling relationship equation
(Coupling coefficient)/ / / / / 20:11 ■ Reducer parameters
Model 50C 42D 25D 32 Harmonic Quasi double sided Reducer reduction ratio 32.54 105 126 50 / / Comprehensive reduction ratio 97.62 105 126 102 105.3 90.9 Rated outputspeed(r/min) 15 15 15 25 / / Rated torque(Nm) 490 412 245 76 / / Permissible torque for starting
and stopping(N ·m)1225 1029 612 216 / / Instantaneous maximum torque(N-m) 2450 2058 1225 382 / / Moment rigidity(N ·m) 1764 1660 784 / / / Instantaneous maximum torque(N ·m) 3528 3320 1568 / / / ■ Motor parameters
Joint J1 J2 J3 J4 J5 J6 Motor model 130 130 80 60 50 50 Rated power(kW) 2 2 0.75 0.4 0.2 0.2 Rated voltage(V) 220 Rated current(A) 10 10 5 2.6 1.5 1.5 Rated torque(N ·m) 6.36 6.36 2.38 1.27 0.63 0.63 Rated speed(r/min) 3000 3000 3000 3000 3000 3000 Maximum speed(r/min) 3200 3200 3200 4500 4500 4500 Rotor inertia(*10e-4kgm²) 16.5 16.5 1.2 0.4 0.2 0.2 Line back
electromotive force coefficient(V/Krpm)50.5 50.5 36.2 33 30 30 Number of pole pairs 5 Encoder 17 bit multi turn insulation value Tamagawa agreement RELATED PRODUCTS
MESSAGES
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Contact
Ningbo Zhongda Leader Intelligent Transmission Co., Ltd.
Add.: No. 185 Xinxing 1st Road, Cixi High-tech Industrial
Development Zone, Ningbo
Tel: +86-574-63537171
Fax: +86-574-63534879
WhatsApp: +86-19136773454
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