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ROKAE AR Series Humanoid Force-Controlled Arm
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Product Feature
ROKAE AR Series Humanoid Force-Controlled Arm
| Parameter | AR3 | AR5 | AR10 |
|---|---|---|---|
|
Rated load
|
3 kg | 5 kg | 10 kg |
|
Weight
|
7 kg | 10 kg | 18 kg |
|
DoF
|
7 | 7 | 7 |
|
Operating radius
|
650 mm | 683 mm | 760 mm |
|
Repeated positioning accuracy
|
±0.1 mm | ±0.1 mm | ±0.1 mm |
|
Absolute positioning accuracy
|
±1 mm | ±1 mm | ±1 mm |
|
TCP maximum speed
|
≥2 m/s | ≥2 m/s | ≥2 m/s |
|
Joint hollow aperture
|
6 mm | 9 mm | 10 mm |
|
IP rating
|
IP54 | IP54 | IP54 |
|
Axis 1
|
±360° | ±178° | ±360° |
|
Axis 2
|
±120° | ±120° | ±120° |
|
Axis 3
|
±178° | ±178° | ±178° |
|
Axis 4
|
-60°~145° | -60°~+145° | -60°~145° |
|
Axis 5
|
±178° | ±178° | ±178° |
|
Axis 6
|
±110° | ±60° | ±110° |
|
Axis 7
|
±180° | ±90° | ±180° |
|
Brake
|
Joint with the brake | Joint with the brake | Joint with the brake |
|
Joint torque sensor
|
Standard configuration | Standard configuration | Standard configuration |
|
End 6-DoF force sensor
|
Supports (range 200 N / 7 Nm, accuracy ≤ 2% F.S.) | Supports (range 200 N / 7 Nm, accuracy ≤ 2% F.S.) | Supports (range 200 N / 7 Nm, accuracy ≤ 2% F.S.) |
|
Force control accuracy
|
≤0.15 N, ≤ 0.05 Nm (reference value) | ≤0.15 N, ≤ 0.05 Nm (reference value) | ≤0.15 N, ≤ 0.05 Nm (reference value) |
|
Force control resolution
|
≤0.05 N, ≤ 0.02 Nm (reference value) | ≤0.05 N, ≤ 0.02 Nm (reference value) | ≤0.05 N, ≤ 0.02 Nm (reference value) |
|
Overload capacity of force sensor
|
≥300% F.S. | ≥300% F.S. | ≥300% F.S. |
|
Comprehensive accuracy of force control
|
≤1% F.S. | ≤1% F.S. | ≤1% F.S. |
|
Sampling frequency of force sensor
|
≥5 kHz | ≥5 kHz | ≥5 kHz |
|
Torque closed loop
|
In initial scheme, controller performs torque closed loop, while in advanced scheme, joint performs torque closed loop | In initial scheme, controller performs torque closed loop, while in advanced scheme, joint performs torque closed loop | In initial scheme, controller performs torque closed loop, while in advanced scheme, joint performs torque closed loop |
|
Admittance control
|
Single arm admittance is used alone. Update admittance control parameters in real time during admittance execution | Single arm admittance is used alone. Update admittance control parameters in real time during admittance execution | Single arm admittance is used alone. Update admittance control parameters in real time during admittance execution |
|
Load recognition
|
Automatic recognition of load | Automatic recognition of load | Automatic recognition of load |
|
Power voltage
|
48 V DC (±15%) | 48 V DC (±15%) | 48 V DC (±15%) |
|
Communication mode
|
EtherCAT (Cycle 1 ± 0.1 ms) | EtherCAT (Cycle 1 ± 0.1 ms) | EtherCAT (Cycle 1 ± 0.1 ms) |
|
Noise
|
≤60 dB | ≤60 dB | ≤60 dB |
|
Operating temperature
|
0°C-50°C, the temperature rise shall not exceed 30°C, and the overall temperature of the machine shall not exceed 60°C | 0°C-50°C, the temperature rise shall not exceed 30°C, and the overall temperature of the machine shall not exceed 60°C | 0°C-50°C, the temperature rise shall not exceed 30°C, and the overall temperature of the machine shall not exceed 60°C |
|
Operating humidity
|
10%-90% RH (non-condensing) | 10%-90% RH (non-condensing) | 10%-90% RH (non-condensing) |
|
Vibration resistance
|
Refer to GB/T 4798.5-2007 Severity: 5M2 | Refer to GB/T 4798.5-2007 Severity: 5M2 | Refer to GB/T 4798.5-2007 Severity: 5M2 |
|
Impact strength
|
Refer to GBT39266-2020 Impact acceleration: 10 g | Refer to GBT39266-2020 Impact acceleration: 10 g | Refer to GBT39266-2020 Impact acceleration: 10 g |