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RV Cycloidal Pin Wheel Reducer
PRODUCTS
Detail
Robot model ZDGT2518 Freedom 6 Position Ground installation andsuspended
ceiling installationJ1 Axis 145°/sec J2 Axis 115°/sec Maximum operating speed J3 Axis 150°/sec J4 Axis 347°/sec J5 Axis 280°/sec J6 Axis 380°/sec Maximum operating range J1 Axis ±180° J2 Axis -125°~+90° J3 Axis -77°~+202° J4 Axis ±180° J5 Axis ±125° J6 Axis ±360° Maximum activityradius 1808mm Maximum end load 25Kg Body weight About 191Kg Allowable torque J4 52N ·m J5 52N ·m J6 32N ·m Allowable moment of inertia J4 2.40kg-m² J5 2.40kg-m² J6 1.20kg ·m² Repeatability ±0.08mm Robot base size 300×420mm Ambient temperature 0~45℃ Relative humidity 20~80%RH Atmospheric pressure 89KPa~106KPa(Altitude below 1000m) Vibration,impact,collision ≤0.5G Protection grade P54(Wrist IP67) ■ 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 Coordinate system 2 Coordinatesystem 3 Coordinate system 4 Coordinate system 5 lxx(Kgmm²) / 2.1×10⁶ 9.4×10⁵ 3.8×10⁶ 8.8×10⁴ 2.9×10⁴ lyy(Kgmm²) / 2.7×10⁶ 1.2×10⁷ 2.6×10⁵ 7.8×10⁵ 3.1×10³ lzz(Kgmm²) / 1.6×10⁶ 1.1×10⁷ 3.9×10⁵ 7.2×10⁵ 2.9×10⁴ ■ Joint coupling
Joint J1-J2 J2-J3 J3-J4 J4-J5 J4-J6 J5-J6 Coupling relationship equation
(Coupling coefficient)/ / / 53.5:1 79:1 79:1 ■ Reducer parameters
Model 100C 250BX 42D 10C 120BX 120BX Reducerreduction ratio 36.75 111 105 27 53.5 79 Comprehensive reduction ratio 102.9 111 104 86.4 107 79 Rated output speed(r/min) 15 15 15 15 30 30 Rated torque(N ·m) 980 1078 412 98 58 58 Permissible torque for starting
and stopping(N ·m)2450 2695 1029 245 117 117 Instantaneous maximum torque(N ·m) 4900 5390 2058 490 294 294 Moment rigidity(N ·m) 2450 2940 1660 386 196 196 Instantaneous maximum torque(N ·m) 4900 5880 3320 1372 392 392 ■ Motor parame
Joint J1 J2 J3 J4 J5 J6 Motor model 130 180 130 60 60 60 Rated power(kW) 2 3 1.5 0.4 0.4 0.4 Rated voltage(V) 220 Rated current(A) 10 18 7 2.6 2.6 2.6 Rated torque(N ·m) 6.36 14.3 4.77 1.27 1.27 1.27 Rated speed(r/min) 3000 2000 3000 3000 3000 3000 Maximum speed(r/min) 3000 2200 3100 4500 4500 4500 Rotor inertia(*10e-4kgm²) 16.5 51 9 0.4 0.4 0.4 Line back
electromotive force coefficient(V/Krpm)50.5 52.8 48 33 33 33 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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