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RV Cycloidal Pin Wheel Reducer
PRODUCTS
Detail
Robot model ZDFT1215 Freedom 6 Position Ground installation andsuspended
ceiling installationMaximum operating speed J1 Axis 200°/sec J2 Axis 185°/sec J3 Axis 155°/sec J4 Axis 265°/sec J5 Axis 215°/sec J6 Axis 260°/sec Maximum operating range J1 Axis ±180° J2 Axis -125°~+90° J3 Axis -84°~+205° J4 Axis ±170° J5 Axis -150°~+116° J6 Axis ±360° Maximum activity radius 1463mm Maximum end load 12Kg Body weight About 116Kg Allowabletorque J4 22N ·m J5 22N ·m J6 9.8N ·m Allowable moment of inertia J4 0.65kgm² J5 0.65kg-m² J6 0.17kg-m² Repeatability ±0.05mm Robot base size 290×300mm 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 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 armfixed seat
componentsSmall arm
componentsWrist Consult Coordinate system 0 Coordinate system 1 Coordinate system 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)/ / / / / 35 ■ Reducer parameters
Model 50C 42D 25D 32 Harmonic 20 Harmonic FBS32 Reducer reduction ratio 32.54 105 126 50 80 30 Comprehensive reduction ratio 97.62 105 126 102 128 105 Rated output speed (r/min) 15 15 15 25 25 25 Rated torque (N ·m) 490 412 245 76 25 25 Permissible torque for starting
and stopping (N ·m)1225 1029 612 216 56 56 Instantaneous maximum torque (N ·m) 2450 2058 1225 382 98 98 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 (/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 (V/Krpm)
electromotive force coefficient50.5 50.5 36.2 33 30 30 Number of pole pairs 5 Encoder 17 bit multi turn insulation value Tamagawa agreement RELATED PRODUCTS
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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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