Fraunhofer Institute for Manufacturing Engineering and AutomationModule |
Component/ Property |
Value |
| Fully configured robot | Dimensions (L/W/H) | 72/72/158 cm |
| Weight | 140 kg | |
| Power Supply | Li-Ion battery 48V External charger 48V@10A Internal levels 48V, 24V, 19V (battery voltage can vary 44V-56V) |
|
| Degrees of freedom | 29 | |
| Safety | 3 safety laser scanners with safety PLC 2-channel Safe-Torque-Off (STO) separate for mobile base and torso 2-channel EM-Stop prepared in all modules 2-channel wireless EM-stop |
|
| Communication | Gigabit Ethernet in all modules | |
| Computing | 4-6 Intel NUC i5, 256GB, 8GB RAM | |
Omnidirectional base |
Dimensions (L/W/H) | 72/72/33 cm |
| Weight | 42 kg | |
| Power Supply | Li-Ion battery48 V External charger 48V@10A Internal levels 48V, 24V, 19V |
|
| Communication | Gigabit Ethernet Dual-channel router with DDWRT (2,4GHz+5GHz) Low-level: CANOpen |
|
| Computing | 1x Intel NUC i5, 256GB, 8GB RAM | |
| Interface | 7” touchscreen, power button, break-release, USB port, LAN port | |
| Max Speed | 1,1m/s | |
| Lighting | RGB-LEDs in wheel-caps | |
| Torso | Dimensions (D/H) | 43/80 cm |
Weight |
43,2 kg |
|
Power Supply |
Power supply from base 48V Internal levels 48V, 24V, 19V |
|
Communication |
Gigabit Ethernet |
|
Computing |
1-3x Intel NUC i5, 256GB, 8GB RAM |
|
Interface |
7” touchscreen |
|
Lighting |
58x independent RGB-LEDs in ring |
|
Torso joint 1-DOF |
Max Joint Vel |
200°/s |
Joint limits |
-360° to 360° |
|
Torso joint 3-DOF |
Max Joint Vel |
200°/s per axis à ~ ca. 1 bow/s |
Joint limits |
-360° to 360° all axis |
|
Arm |
Reach |
ca. 90cm (from center of first ball) |
Weight |
13,9 kg |
|
Degrees of freedom |
7 |
|
Communication |
CANOpen |
|
Motors |
Schunk PowerBalls (PRL100, ERB145, ERB115) |
|
Payload |
5kg |
|
Gripper |
Dimensions (L/W/H) |
17/12,5/11 cm |
Weight |
0,9 kg |
|
Degrees of freedom |
2 |
|
Communication |
USB |
|
Camera |
3D-RGBD camera (range 15-200cm) |
|
Light |
1x 3W Daylight LED, 1x 1W (per channel) RGB-LED |
|
Laser |
Laserpointer, red, <5mW |
|
Other Interfaces |
6x configurable GPIO-ports 1x 20MHz SoC with logic blocks, USB, free programmable 1x USB port for external sensors |
|
Head |
Dimensions (D/H) |
37/51 cm |
Weight |
14,7 kg |
|
Communication |
Gigabit Ethernet |
|
Computing |
1x Intel NUC i5, 256GB, 8GB RAM |
|
Interface |
15” touchscreen, 2x 20W Speaker, 1x Mic |
|
Head joint 1-DOF |
Max Joint Vel |
200°/s |
Joint limits |
-360° to 360° |
|
Head joint 3-DOF |
Max Joint Vel |
200°/s per axis |
Joint limits |
-360° to 360° all axis |
|
Sensor ring
|
Dimensions (D/H) |
35/9 cm |
Weight |
1 kg + custom sensors |
|
Communication |
Gigabit Ethernet |
|
Computing |
1x Intel NUC i5, 256GB, 8GB RAM |
|
Speed |
200°/s |
|
Angle limits |
-360° to 360° |