Robot data

General info

Dimensions

  • L1 = 0.23682m
  • L2 = 0.32m
  • L3 = 0.0735m
  • L4 = 0.2507m
  • L5 = 0.057m
_images/robot_dim.png

Reduction ratios:

  • Joint 1 -> 15:1 cycloidal reducer and 5:3 belt reduction = combined resulting in 25:1 reduction
  • Joint 2 -> 27:1 cycloidal reducer
  • Joint 3 -> 15:1 cycloidal reducer
  • Joint 4 -> 11:1 cycloidal reducer and 28:26 belt reduction = combined resulting in 11.846153:1 reduction
  • Joint 5 -> 11:1 cycloidal reducer and 1:1 belt reduction = combined resulting in 11:1 reduction
  • Joint 6 -> 19.19:1 planetary reducer

Belts

  • Joint 1 belt is HTD 5M 490 mm timing belt 10 mm wide and needs to be tightened with bearings
  • Joint 4 belt is HTD 5M 430 mm timing belt 10 mm wide does not need to be tightened
  • Joint 5 belt is HTD 5M 285 mm timing belt 10 mm wide and needs to be tightened with bearings

Stepper data

PSU