I-PiPER Robotic Arm Quick Start Manual User AgileX Robotics
I-PiPER ROBOTIC ARM
Isiqalo esisheshayo semanuwali somsebenzisi V 1. 0
2024.09
Ulwazi Lokuphepha Olubalulekile
Lesi sahluko siqukethe ulwazi olubalulekile lokuphepha. Noma yimuphi umuntu noma inhlangano kufanele ifunde futhi iqonde lolu lwazi ngaphambi kokusebenzisa idivayisi, ikakhulukazi ngaphambi kokuyivula okokuqala ngqa. Kubalulekile ukulandela kanye nokuthobela yonke imiyalelo yokuhlanganisa kanye nemihlahlandlela kuleli bhukwana. Naka ngokukhethekile umbhalo ohlobene nezimpawu eziyisixwayiso. Ngaphambi kokusebenzisa idivayisi, qiniseka ukuthi uthola futhi ufunde "Imanuwali Yomsebenzisi ye-PiPER." Uma unemibuzo mayelana nokusetshenziswa, zizwe ukhululekile ukuxhumana nathi ku support@agilex.ai.
Isithonjana sesixwayiso: 
Lokhu kubhekisela ezimweni ezingase zidale ingozi, okuthi, uma zingagwenywa, zingaholela ekulimaleni komuntu siqu, ekulimaleni kwempahla, kanye nokulimala okukhulu kwemishini.
Isexwayiso: I-Songling Robot Co., Limited (Igama lomkhiqizo: I-AgileX Robotics. Ngemva kwalokhu ebizwa ngokuthi i-AgileX Robotics. ) ngeke ithweswe icala uma ingalo yerobhothi ilimele, ishintshwa noma ilungiswa nganoma iyiphi indlela. I-AgileX Robotics ngeke ibe nesibopho sanoma yimuphi umonakalo engalweni yerobhothi noma yimuphi omunye umshini obangelwa amaphutha ohlelo noma ukwehluleka kokusebenza.
Umkhawulo Wesikweletu: Uma ingalo yerobhothi isisetshenziswa, kubhekwa ukuthi ufundile, waqonda, wavuma, futhi wamukela yonke imigomo nokuqukethwe kwebhukwana lomsebenzisi nolwazi lokuphepha lwalo mkhiqizo. Umsebenzisi uzibophezela ekubeni nesibopho ngezenzo zakhe kanye nayo yonke imiphumela evela kuzo. Umsebenzisi uvuma ukusebenzisa ingalo yerobhothi kuphela ngezinjongo ezisemthethweni futhi wamukela le migomo, kanye nanoma yiziphi izinqubomgomo ezifanele noma imihlahlandlela i-AgileX Robotics engase isungulwe. Ngesikhathi usebenzisa ingalo yerobhothi, sicela uthobele ngokuqinile futhi ulandele izimfuneko ezichazwe, kodwa kungagcini, kumanuwali yomsebenzisi kanye nolwazi lokuphepha. I-AgileX Robotics ngeke ibe necala lanoma yikuphi ukulimala komuntu siqu, izingozi, ukulimala kwempahla, izingxabano ezingokomthetho, noma ukungqubuzana kwezithakazelo okubangelwa ukusetshenziswa okungafanele noma i-force majeure. Ingalo yerobhothi ayibafanele abantu abangaphansi kweminyaka engu-18 noma labo abangenawo amandla omphakathi aphelele. Sicela uqinisekise ukuthi abantu abanjalo abahlangani nalo mkhiqizo, futhi uthathe izinyathelo zokuphepha ezengeziwe lapho usebenzisa idivayisi bekhona.
Ulwazi olukule manuwali alukubandakanyi ukuklama, ukufakwa, nokusebenza kohlelo oluphelele lwengalo yerobhothi, futhi alufaki zonke izinto ezisetshenziswayo ezingase zibe nomthelela ekuphepheni kwalo lonke uhlelo. Ukuklanywa nokusetshenziswa kwesistimu ephelele kufanele kuhambisane nezidingo zokuphepha ezisungulwe ngamazinga nemithetho yezwe lapho ingalo yerobhothi ifakwe khona.
Kungumsebenzi womhlanganisi wengalo yerobhothi kanye nekhasimende lokugcina ukuqinisekisa ukuthobela imithethonqubo efanele nemithetho esebenzayo, ukuqinisekisa ukuthi azikho izingozi ezibalulekile ezikhona ekufakweni okuphelele kwengalo yerobhothi. Lokhu kubandakanya, kodwa akupheleli kulokhu, okulandelayo:
1. Ukusebenza Nesibopho
- Yenza ukuhlolwa kwengozi yesistimu yengalo yerobhothi ephelele.
- Xhuma izisetshenziswa zokuphepha ezengeziwe zeminye imishini njengoba kuchaziwe ekuhloleni ubungozi.
- Qinisekisa ukuklama okunembile nokufakwa kwayo yonke isistimu yengalo yerobhothi, okuhlanganisa kokubili isofthiwe nehadiwe.
- Umdidiyeli kanye nekhasimende lokugcina kufanele balandele imithethonqubo efanele kanye nezimfuneko zomthetho ezisebenzayo zokuhlola ukuphepha ukuze kuqinisekiswe ukuthi ingalo yerobhothi ethuthukisiwe ayinazo izingozi ezinkulu noma izingozi zokuphepha ezinhlelweni zangempela.
- Qaphela noma yiziphi izingcuphe zokuphepha ezingaba khona ngaphambi kokusebenzisa kanye nokusebenzisa okokusebenza.
- Qinisekisa ukuthi abasebenzisi abaguquli noma yiziphi izinyathelo zokuphepha.
- Qoqa wonke amadokhumenti ku-technical files, okubandakanya ukuhlolwa kobungozi kanye nale manuwali.
2. Imvelo
- Ngaphambi kokusebenzisa okokuqala, funda ngokucophelela leli bhukwana ukuze uqonde ukusebenza okuyisisekelo nemihlahlandlela yokusebenzisa.
- Khetha indawo evulekile uma kuqhathaniswa ozosetshenziswa, njengoba ingalo yerobhothi ingezi nanoma yiziphi izinzwa ezizenzakalelayo zokugwema izithiyo noma izinzwa.
- Sebenzisa ingalo yerobhothi endaweni enezinga lokushisa eliphakathi kuka -20°C no-50°C.
- Uma ingalo yerobhothi ingenziwanga ngokwezifiso ngesilinganiso esithile sokuvikela se-IP, ukumelana kwayo namanzi nothuli kukalwa ku-IP22.
3. Hlola
- Qinisekisa ukuthi ingalo yerobhothi ayinakho okungavamile okubonakalayo.
- Qinisekisa ukuxhumeka okufanele kwehhanisi lezintambo ngesikhathi sokusetshenziswa.
4. Ukusebenza
- Qinisekisa ukuthi indawo ezungezile ivulekile ngesikhathi sokusebenza.
- Sebenza ngaphakathi kobubanzi obubonakalayo.
- Umthwalo okhokhelwa kakhulu wengalo yerobhothi ngu-1.5KG; qinisekisa ukuthi umthwalo osebenzayo aweqi i-1.5KG ngesikhathi sokusetshenziswa.
- Uma okokusebenza kubonisa okungavamile, yeka ukuyisebenzisa ngokushesha ukuze ugweme ukulimala kwesibili.
- Uma kwenzeka izinto ezingavamile, xhumana nezisebenzi zezobuchwepheshe ezifanele futhi ungazisingathi ngokwakho.
- Sebenzisa okokusebenza endaweni ehlangabezana nezidingo zesilinganiso sokuvikela se-IP.
5. Izixwayiso “
- Qinisekisa ukuthi ingalo yerobhothi namathuluzi/izici zokuqeda zihlala zilungiswe kahle futhi ngokuvikelekile endaweni.
- Uma kufanele ungene endaweni yokusebenza yengalo yerobhothi, gqoka izibuko zokuphepha nezinto zokuzivikela ukuze uzivikele.
- Qinisekisa ukuthi ingalo yerobhothi inesikhala esanele sokunyakaza kwamahhala.
- Qinisekisa ukuthi izinyathelo zokuphepha ziyasungulwa njengoba kuchaziwe ekuhloleni ubungozi.
- Ungagqoki izingubo ezixegayo ngenkathi usebenzisa ingalo yerobhothi. Bopha izinwele ezinde uma usebenzisa ingalo yerobhothi.
- Ungayisebenzisi ingalo yerobhothi uma ilimele noma ibonisa noma yikuphi okungavamile.
- Uma isofthiwe yekhompuyutha ephethe ibonisa imilayezo yamaphutha, masinyane misa isimo esiphuthumayo bese uthinta abasebenzi bezobuchwepheshe abafanelekile.
- Qinisekisa ukuthi abantu bagcina amakhanda abo, ubuso, noma ezinye izitho zomzimba zikude nengalo yerobhothi esebenzayo noma endaweni ingalo yerobhothi engafinyelela kuyo ngesikhathi sokusebenza.
- Ungalokothi uguqule ingalo yerobhothi. Ukushintsha ingalo yerobhothi kungase kwethule izingozi ezingalindelekile kumhlanganisi.
- Ungavezi ingalo yerobhothi ezindaweni ezihlala njalo kazibuthe. Amandla kazibuthe anamandla angalimaza ingalo yerobhothi.
- Ingalo yerobhothi ikhiqiza ukushisa ngesikhathi sokusebenza. Ungayibambi noma uyithinti ingalo yerobhothi ngenkathi isebenza noma ngemva nje kokuba ime, njengoba ukuthintana isikhathi eside kungase kubangele ukungakhululeki. Vala isistimu bese ulinda ihora elilodwa ukuze ingalo yerobhothi iphole.
- Ukuxhuma imishini ehlukene ndawonye kungase kwandise ubungozi noma kwethule izingozi ezintsha. Njalo yenza ukuhlolwa kwengozi okuphelele kukho konke ukufakwa. Ngokuya ngokuhlolwa kobungozi, amazinga okuphepha okusebenza ahlukene angasebenza; ngakho-ke, lapho amazinga ahlukene okuphepha kanye nokusebenza kwezimo eziphuthumayo edingeka, khetha njalo izinga eliphezulu lokusebenza. Ngaso sonke isikhathi funda futhi uqonde iziqondiso zawo wonke amadivayisi asetshenziswa ekufakeni.
- Ingalo yerobhothi ayifanele ukusetshenziswa abantu abangaphansi kweminyaka engu-18 noma labo abangenawo amandla omphakathi aphelele.
1. Isingeniso
Le ingalo yerobhothi ye-DOF engu-6 yakhelwe ngokuqondile imboni yezemfundo nocwaningo, izinhlelo zokusebenza ezisezingeni labathengi, kanye ne-automation yezimboni. Ngomthamo okhokhelwayo ongu-1.5kg, ilungele ucwaningo oluhlukahlukene kanye nezicelo zezimboni, okuhlanganisa amarobhothi e-humanoid, ukuhlanganisa okuzenzakalelayo, nokubamba okuzenzakalelayo. Amajoyinti ayisithupha ajikelezayo ahlinzeka ngokuguquguquka kokusebenza kobubanzi obugcwele, okuqinisekisa ukunemba okuphezulu nokuphindaphinda. Ingalo yerobhothi inomklamo oyimojuli, okwenza kube lula ukuyinakekela nokuyithuthukisa. Inikeza isixhumi esibonakalayo somsebenzisi esenza kube lula ukuhlela nokusebenza, okuvumela nabangewona ochwepheshe ukuthi baqalise ngokushesha. Ingasetshenziswa kabanzi emikhakheni efana nocwaningo lwesayensi, imfundo, ukukhiqizwa kwezimoto, ukuhlanganiswa kwe-electronics, ukucubungula ukudla, i-automation yaselabhorethri, kanye nokusebenza kwemishini yezokwelapha.
1.1. Uhlu Lokupakisha
| Igama | Ubuningi |
| 6 DOFs Ingalo yerobhothi | 1 |
| Imojula ye-USB kuya ku-CAN | 1 |
| I-adaptha yamandla | 1 |
| Ikhebula le-Micro USB | 1 |
| Ikhebuli yamandla neyokuxhumana | 1 |
| Izikulufu zokukhweza eziyisisekelo | 4 |
| Isisekelo sokufaka isikrufu | 1 |
2. Ukusetshenziswa Okuyisisekelo
Ingalo yerobhothi inama-DOF angu-6 kanye nomthwalo okhokhelwayo ongu-1.5kg ekugcineni. Amajoyinti ayisithupha ajikelezayo ahlinzeka ngokuguquguquka kokusebenza kobubanzi obugcwele, okuqinisekisa ukunemba okuphezulu nokuphindaphinda. Ifaka idizayini engasindi, evumela ingalo yerobhothi ukuthi ifinyelele amakhono okunyakaza okusheshayo kuyilapho igcina umthamo wokulayisha okhokhelwayo ophezulu uma kuqhathaniswa. Ingasetshenziswa kabanzi kubuhlakani obuhlanganisiwe bokuqoqwa kwedatha yomhlaba wangempela.
- Inkinobho yokufundisa/imiboniso
- Iphaneli kagesi
2.1. Isingeniso Se-Electrical Interface
2.1.1 Imiyalelo Yephaneli Yogesi Wengalo Yerobhothi
- Amandla nokuxhumana port
- Ukukhanya Kwesikhombi Sesimo
- Imbobo yokuxhumana ye-J1 ne-J2
2.1.2 Imiyalo yepulaki yendiza
1: Amandla nembobo yokuxhumana
2: Isibani sesikhombi sesimo
3: Imbobo yokuxhuma ye-J1J2
4: Amandla amahle
5: I-negative yamandla
6: CAN-H
7: I-CAN-L
Qaphela: Qondanisa ichashazi elibomvu nechashaza elibomvu elihambisanayo kukhebula. Indawo yokuthungwa yesixhumi idizayinelwe ukuhoxisa ngaphansi kokuphoqelelwa. Ngesikhathi sokufaka, qondanisa ichashazi elibomvu phansi nendawo ephumele ngaphandle bese ulifaka ngqo. Ukuze uyisuse, cindezela phansi endaweni ebhaliwe bese uyikhipha.
2.1.3 INGABE uxhumano
INGABE Ukuxhumana Nokulungiselela
Khipha ikhebuli ye-CAN bese uxhuma izintambo ze-CAN_H kanye ne-CAN_L ku-adaptha ye-CAN_TO_USB.
Xhuma i-adaptha ye-CAN_TO_USB embobeni ye-USB yekhompyutha ephathekayo. Umdwebo wokuxhuma ukhonjiswe kuMfanekiso 3.4.
Ukunikezwa kwamandla kwangaphandle:
1. Okubomvu: VCC (Ibhethri iphozithivu)
2. Mnyama: GMD (Ibhethri alinayo)
INGABE:
3. Okuphuzi: CAN_H
4. Okuluhlaza okwesibhakabhaka: CAN_L
Qaphela: Uma usebenzisa ishaja engajwayelekile, okokufaka kwamandla akumele kudlule ku-26V, futhi yamanje akumele ibe ngaphansi kuka-10A.
2.2. I-Robotic Arm Teach/Demonstration Mode Instructions
Isimo semodi yokudonsa nokufundisa yengalo yerobhothi siboniswa ukukhanya kwenkinobho phakathi kwe-J5 ne-J6.
Kunezinhlobo ezintathu zezibonisi zezibani zesimo sengalo yerobhothi:
1. Asikho isibonisi sokukhanya: Imodi yerobhothi yokudonsa nokufundisa imisiwe, noma ukurekhodwa kokuhudula kuphelile.
2. Ukukhanya okuluhlaza okuqinile: Ingalo yerobhothi ingene kumodi yokuhudula nokufundisa yokurekhoda i-trajectory.
3. Ukukhanya okuluhlaza okukhanyayo: Ingalo yerobhothi ingene kumodi yokuhudula nokufundisa ukuze udlale i-trajectory.
Ungashintshela kanjani kumodi yokudonsa:
- Inkinobho yokuchofoza okukodwa: Guqula phakathi kokuhudula fundisa ukurekhoda kwe-trajectory kanye nokumisa ukurekhoda kokuhudula.
- Inkinobho yokuchofoza kabili: Yenza kusebenze imodi yokudlala ye-drag train.
Imiyalelo:
Okokuqala, bheka isimo sokukhanya kwenkomba:
- Uma ukukhanya kuvaliwe, chofoza inkinobho kanye. Ukukhanya okuluhlaza kufanele kuphenduke kuqine, okubonisa ukuthi umsebenzisi angahudula ingalo yerobhothi ukuze aqale ukurekhoda i-trajectory.
- Uma ukukhanya kuvaliwe futhi i-trajectory irekhodwe ngaphambilini, chofoza kabili inkinobho. Ukukhanya okuluhlaza kufanele kukhanye njalo ngo-500ms, okubonisa ukuthi ingalo yerobhothi ikwimodi yokudlala futhi izokhiqiza kabusha i-trajectory erekhodiwe.
- Uma ukukhanya kuqinile, kubonisa ukuthi ukurekhodwa kwe-trajectory kuyaqhubeka. Ukumisa ukurekhoda, chofoza inkinobho kanye; ukukhanya kufanele kucime, okubonisa ukuthi ukuqopha kuphelile. Uma ufuna ukudlala kabusha i-trajectory, landela isinyathelo sesi-2.
- Uma ukukhanya kukhanya, ingalo yerobhothi okwamanje ikumodi yokudlala.
Amanothi:
- Ngesikhathi sokudlala kwe-trajectory, umsebenzisi kufanele agcine ibanga eliphephile ukusuka engalweni yerobhothi ukuze agweme ukulimala.
- Ngaso sonke isikhathi lapho ingalo yerobhothi ingena kumodi yokurekhoda yomzila, umzila orekhodiwe ngaphambilini uyasulwa. Imodi yokudlala izosebenzisa i-trajectory yakamuva erekhodiwe.
- Isikhathi esiphezulu sokuqopha i-trajectory imizuzu emi-3; noma iyiphi i-trajectory edlula lesi sikhathi izobe ingavumelekile.
- Ngemva kokuqeda ukufundisa ngokuhudula, qiniseka ukuthi ukukhanya kwenkomba kuvaliwe/imodi yokufundisa yokuhudula imisiwe.
- Uma ufuna ukushintshela kusilawuli sosokhaya noma isilawuli sokuyala, qinisekisa ukuthi ukukhanya kwenkomba kuvaliwe/imodi yokufundisa yokudonsa imisiwe.
Bese ushintshela kumodi yokulinda usebenzisa ikhompuyutha yokusingatha, futhi ngemva kokufaka imodi yokulinda, shintshela kumodi ye-CAN. Okufanayo kuyasebenza ekulawuleni umyalo–qala ushintshele kumodi yokulinda, bese ushintshela kumodi yokulawula ye-CAN.
Qaphela: Uma usuka kumodi yesixhumanisi futhi ufundisa ngokuhudula imodi yokulawula ye-CAN, ingalo yerobhothi kufanele imiswe endaweni eyiziro ngaphambi kokushintsha amamodi. Iphuzu elinguziro liboniswa emfanekisweni ongezansi:
I-Robotic Arm Zero Point
2.3. Iziyalezo zokufaka eziyisisekelo
Isisekelo sengalo yerobhothi sifakwa kusetshenziswa izikulufu ukuze zilungiswe. Isisekelo sinezimbobo ezine ezinentambo ze-M5 ezimbozwe ngaphambilini. Ikhithi yesisekeli ihlanganisa izikulufu ezine ze-M5, ezingaqiniswa kusetshenziswa ithuluzi le-hex elinikeziwe. Isikhala sembobo singama-70mm. Uma udinga ukunamathisela isisekelo kumishini ephathwayo noma endaweni engashintshi, ungaklama isakhiwo esihambisanayo nesikhala sembobo esingu-70mm.
2.4. Qeda Imiyalo Yokufaka Ingxenye
Isiphetho singafakwa namanye amathuluzi nge-flange. Izinsiza ozikhethela zona zifaka i-gripper eneminwe emibili kanye nependant yokufundisa. Indlela yokufaka ikhonjisiwe kumdwebo ongezansi. Imininingwane yokubamba kweminwe emibili kanye nemingcele yedivayisi yokufundisa ingatholakala kumininingwane yezobuchwepheshe ekugcineni.
3. I-ArmRobotUA I-Host Host Imiyalelo Yokusebenzisa Ikhompyutha
Ukulanda Isofthiwe: Isixhumanisi: https://drive.google.com/file/d/1771e87UGdkGwgVuO4XFAio8x4Uajmneh/view?usp=drive_link Usebenzisa i-PC ene-Windows 7 noma ngaphezulu, chofoza kabili ukuze uvule isofthiwe yekhompuyutha engusokhaya. Ngale softhiwe yokusebenzisana nomshini womuntu, ungakwazi ukusebenzisa ingalo yerobhothi futhi ufunde idatha yempendulo evela kunethiwekhi yangaphandle yengalo yerobhothi. I-interface yomsebenzisi iboniswa kanje:
Isofthiwe yokusingatha
I-Host Computer Operation Interface
Amagama ezindawo zokusebenza kuphaneli yesofthiwe yekhompuyutha engusokhaya
| Inkomba | Igama |
| 1 | Inkinobho Yokuxhumana Yengalo Yerobhothi |
| 2 | Izinketho zeMenu |
| 3 | I-Speed Percentage Ukusetha |
| 4 | Inkinobho Yokunika amandla Ingalo Yerobhothi |
| 5 | Inkinobho Yokumisa Ephuthumayo Yengalo Yerobhothi |
| 6 | Izinkinobho Zokushintsha Usayizi Wewindi/Vala |
| 7 | Indawo YokuSebenza |
| 8 | Imodeli Yokulingisa ye-3D |
| 9 | Umsebenzi we-Trajectory Library |
| 10 | Isimo Esihlangene Sengalo Yerobhothi |
| 11 | Ibha Yesimo Sengalo Yerobhothi |
4. Ukuthuthukiswa Kwesibili
Njengamanje, ingalo yerobhothi isekela ukuthuthukiswa kwesibili nge-Python SDK kanye nephakheji yomshayeli we-ROS1. Ukuze uthole imiyalelo enemininingwane yokuthuthukiswa kwesibili, sicela ubheke isixhumanisi se-GitHub.
I-SDK:https://github.com/agilexrobotics/piper_sdk I-ROS1:https://github.com/agilexrobotics/Piper_ros/tree/ros-noetic-no-aloha I-ROS2:https://github.com/agilexrobotics/Piper_ros/tree/ros-foxy-no-aloha
5. Imininingwane Yezobuchwepheshe
Imininingwane ye-Robotic Arm:
| Uhlobo lwepharamitha | Into | Ukucaciswa |
| Amapharamitha Wokwakheka | Iziqu Zenkululeko | 6 |
| Umthwalo Osebenzayo | 1.5KG | |
| Isisindo | 4.2KG | |
| Ukuphindaphinda | ±.0.1mm | |
| Ukusebenza ngemisakazo | 626.75 mm | |
| Ukunikezwa kwamandla okujwayelekile Voltage | I-DC24V (Min: 24V, Max: 26V) | |
| Ukusetshenziswa kwamandla | Amandla Amakhulu ≤ 120W, Amandla Aphelele ≤ 40W | |
| Okubalulekile | I-Aluminium Alloy Frame, Igobolondo Lepulasitiki | |
| Isilawuli | Kuhlanganisiwe | |
| Indlela Yokuxhumana | CAN | |
| Indlela Yokulawula | Fundisa Ngokuhudula / I-Offline Trajectory / API / Ikhompyutha Yokusingatha | |
| I-interface yangaphandle | I-Power Interface x1, CAN Interface x1 | |
| Usayizi Wokufaka Oyisisekelo | 70mm x 70mm x M5 x 4 | |
| Indawo Yokusebenzela | Izinga lokushisa: -20 kuya ku-50 ℃, Umswakamo: 25% -85%, Ayijiki | |
| Umsindo | <60dB | |
| Ukufakwa | Ihambisana nayo yonke imikhiqizo ye-AgileX robotics | |
| Amapharamitha okunyakaza: | I-Joint Motion Range | J1:±154° J2:0°~195° J3:-175°~0° J4:-106°~106° J5:-75°~75° J6:±100° |
| Isivinini Esihlangene Esiphezulu | J1:180°/s J2:195°/s J3:180°/s J4:225°/s J5:225°/s J6:225°/s |
|
| Qaphela: Idatha engenhla iyimiphumela yokuhlolwa kwengalo yerobhothi ye-AgileX endaweni yokuhlola elawulwayo. Imiphumela ingahluka ngaphansi kwezimo ezihlukene nezindlela zokusetshenziswa. Okuhlangenwe nakho kwangempela kufanele kucatshangelwe. | ||
Imininingwane yokuzikhethela yomlandeli we-Gripper:
| Amapharamitha we-Finger Gripper | |
| Isisindo | 500g |
| Ukunemba | ±.0.5mm |
| Ukuvula Ibanga | 0-70 mm |
| Ilinganiswe ngo-Clampngo-Force | 40N |
| UMax Clampngo-Force | 50N |
| Amandla Wokunikezela Voltage | I-DC24V |
| Ukusetshenziswa kwamandla | Amandla Amakhulu ≤ 50W, Amandla Aphelele ≤ 30W |
| Xhumana ne-Surface Material | Irabha |
| Isilawuli | Kuhlanganisiwe |
| Indlela Yokuxhumana | CAN |
| Indlela Yokulawula | Fundisa Ngokuhudula / I-Offline Trajectory / API / Ikhompyutha Yokusingatha |
| I-interface yangaphandle | I-Power Interface x1, CAN Interface x1 |
| Indlela Yokufaka | I-Flange Mount |
| Indawo Yokusebenzela | Izinga lokushisa: -20 kuya ku-50 ℃, Umswakamo: 25% -85%, Ayijiki |
| Umsindo | <60dB |
| Qaphela: Idatha engenhla iyimiphumela yokuhlola ye-AgileX endaweni yokuhlola elawulwayo. Imiphumela ingahluka ngaphansi kwezimo ezihlukene nezindlela zokusetshenziswa; isipiliyoni sangempela kufanele sicatshangelwe. | |
Imininingwane ye-Optional leader gripper:
| Amapharamitha wedivayisi yokufundisa | |
| Isisindo | 500g |
| Ukunemba | ±.0.5mm |
| Ukuvula Ibanga | 0-70 mm |
| Ilinganiswe ngo-Clampngo-Force | I-40N (Force Control, Force Feedback) |
| UMax Clampngo-Force | I-50N (Force Control, Force Feedback) |
| Amandla Wokunikezela Voltage | I-DC24V |
| Ukusetshenziswa kwamandla | Amandla Amakhulu ≤ 50W, Amandla Aphelele ≤ 30W |
| Xhumana ne-Surface Material | Irabha |
| Isilawuli | Kuhlanganisiwe |
| Indlela Yokuxhumana | CAN |
| Indlela Yokulawula | Fundisa Ngokuhudula / I-Offline Trajectory / API / Ikhompyutha Yokusingatha |
| I-interface yangaphandle | I-Power Interface x1, CAN Interface x1 |
| Indlela Yokufaka | I-Flange Mount |
| Indawo Yokusebenzela | Izinga lokushisa: -20 kuya ku-50 ℃, Umswakamo: 25% -85%, Ayijiki |
| Umsindo | <60dB |
| Qaphela: Idatha engenhla iyimiphumela yokuhlola ye-AgileX endaweni yokuhlola elawulwayo. Imiphumela ingahluka ngaphansi kwezimo ezihlukene nezindlela zokusetshenziswa; isipiliyoni sangempela kufanele sicatshangelwe. | |
I-AgileX Robotics
Amadokhumenti / Izinsiza
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I-AGILE X Piper Robotic Arm [pdf] Imaniwali yosebenzisayo Ingalo yeRobhothi yePiper, Ingalo yeRobhothi, Ingalo |
