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RV Cycloidal Pin Wheel Reducer
PRODUCTS
Detail
Robot model ZDFH0615 Freedom 6
PositionGroundinstallation and suspended
ceiling installationMaximum operating speed J1 Axis 165°/sec J2 Axis 155°/sec J3 Axis 200°/sec J4 Axis 290°/sec J5 Axis 315°/sec J6 Axis 925°/sec Maximum operating range J1 Axis ±180° J2 Axis -125°~+90° J3 Axis -84°~+205° J4 Axis ±170° J5 Axis ±120° J6 Axis ±360° Maximum activity radius 1466mm Maximum end load 6Kg Body weight 约About 116Kg Allowable torque J4 10.5N ·m J5 10.5N ·m J6 5.9N ·m Allowable moment of inertia J4 0.28kg ·m² J5 0.28kg ·m² J6 0.06kg ·m² Repeatability ±0.05mm Robot base size 290×300mm Ambient temperature 0~45℃ Relative humidity 20~80%RH Atmospheric pressure 89KPa~106KPa(1000m以下)
Altitude below 1000mVibration,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
componentscomponents Wrist Consult Coordinate system 0 Coordinate system 1 Coordinate system 2 Coordinate system 3 Coordinate system 4 Coordinate system 5 lxx(Kgmm²) / 1.8×10⁶ 1.4×10⁶ 1.2×10⁵ 3.8×10⁴ 1.1×10⁴ lyy(Kgmm²) / 1.3×10⁶ 9.7×10⁶ 1.6×10⁵ 7.2×10⁵ 9.3×10³ lzz(Kgmm²) / 9.5×10⁵ 8.6×10⁵ 1.8×10⁵ 7.3×10⁵ 3.9×10³ Joint coupling
Joint J1-J2 J2-J3 J3-J4 J4-J5 J4-J6 J5-J6 Coupling relationship equation
(Coupling coefficient)/ / / / / 11.7 ■ Reducer parameters
Model 50C 42D 25D 32 Harmonic 20 Harmonic Gearbox Reducer reduction ratio 32.54 105 126 50 50 / Comprehensive reduction ratio 97.62 105 126 102 102 35.1 Rated output speed (r/min) 15 15 15 25 25 / Rated torque (N ·m) 490 412 245 76 25 / Permissible torque for starting
and stopping (N ·m)1225 1029 612 216 56 / Instantaneous maximum torque (N ·m) 2450 2058 1225 382 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 40 40 Rated power (kW) 2 2 0.75 0.4 0.1 0.1 Rated voltage (V) 220 Rated current (A) 10 10 5 2.6 0.85 0.85 Rated torque (N ·m) 6.36 6.36 2.38 1.27 0.31 0.31 Rated speed (r/min) 3000 3000 3000 3000 3000 3000 Maximum speed (/min) 3200 3200 3200 5000 5400 5400 Rotor inertia (*10e-4kgm²) 16.5 16.5 1.2 0.4 0.06 0.06 Line back
electromotive force coefficient (V/Krpm)50.5 50.5 36.2 33 25.2 25.2 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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