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RV Cycloidal Pin Wheel Reducer
PRODUCTS
Detail
Robot model ZDGT1020 Freedom 6 Position Ground installation and suspended
ceiling installationJ1 Axis 145°/sec Maximum operating speed J2 Axis 115°/sec J3 Axis 150°/sec J4 Axis 290°/sec J5 Axis 310°/sec J6 Axis 310°/sec Maximum operating range J1 Axis ±180° J2 Axis -125°~+90° J3 Axis -86°~+202° J4 Axis ±170° J5 Axis ±115° J6 Axis ±360° Maximum activity radius 2029mm Maximum end load 10Kg Body weight 约About 195Kg Allowable torque J4 26N ·m J5 26N-m J6 11N ·m Allowable moment of inertia J4 0.90kg-m² J5 0.90kg-m² J6 0.30kg-m² Repeatabilty ±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 IP54 (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 Coordinate system 2 Coordinate system 3 Coordinate system 4 Coordinate system 5 lxx(Kgmm²) / 2.1×10⁶ 9.4×10⁵ 1.0×10⁶ 2.1×10⁶ 1.3×10⁴ lyy(Kgmm²) / 2.7×10⁶ 1.2×10⁷ 5.6×10⁵ 2.1×10⁶ 4.5×10³ lzz(Kgmm²) / 1.6×10⁶ 1.1×10⁷ 1.4×10⁶ 4.5×10⁴ 1.1×10⁴ ■ Joint coupling
Joint J1-J2 J2-J3 J3-J4 J4-J5 J4-J6 J5-J6 Coupling relationship equation
(Coupling coefficient)/ / / / / 81 ■ Reducer parameters
Model 100C 250BX 42D 32 Harmonic 20 Harmonic 20 Harmonic Reducer reduction ratio 36.75 111 105 50 80 80 Comprehensive reduction ratio 102.9 111 104 102 104.52 104.52 Rated output speed(r/min) 15 15 15 25 25 25 Rated torque(N·m) 980 1078 412 76 25 25 Permissible torque for starting
and stopping(N ·m)2450 2695 1029 216 56 56 Instantaneous maximum torque(N ·m) 4900 5390 2058 382 98 98 Moment rigidity(N ·m) 2450 2940 1660 / / / Instantaneous maximum torque(N ·m) 4900 5880 3320 / / / ■ Motor parameters
关Joint J1 J2 J3 J4 J5 J6 Motor model 130 180 130 60 60 60 Rated power(kW) 2 3 1.5 0.4 0.2 0.2 Rated voltage(V) 220 Rated current(A) 10 18 7 2.6 1.4 1.4 Rated torque(N ·m) 6.36 14.3 4.77 1.27 0.63 0.63 Rated speedr/min) 3000 2000 3000 3000 3000 3000 Maximum speed(r/min) 3000 2200 3000 4500 4500 4500 Rotor inertia(*10e-4kgm²) 16.5 51 9 0.4 0.216 0.216 Line back
electromotive force coefficient(V/Krpm)50.5 52.8 48 33 49.2 49.2 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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