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Smart Robotic Arm - FlexArm 6X

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The FlexArm 6X is an advanced 6-DOF robotic arm designed for research, development, and precision manipulation tasks. Featuring integrated force/torque sensing, comprehensive vision systems, and an open control architecture, it provides a versatile platform for robotics research and industrial applications.

Technical Specifications

Mechanical Specifications

  • Physical Properties:

    • Total Weight: 18 kg

    • Reach: 500 mm

    • Base Diameter: 250 mm

    • Mounting: Standard flange pattern

  • Materials:

    • Structure: Aircraft-grade aluminum alloy

    • Joints: High-strength steel alloy

    • Bearings: Precision ceramic hybrid

  • Joint Configuration:

    • J1 (Base): ±170°

    • J2 (Shoulder): ±160°

    • J3 (Elbow): ±160°

    • J4 (Wrist 1): ±160°

    • J5 (Wrist 2): ±135°

    • J6 (Wrist 3): ±135°

Performance Specifications

  • Payload:

    • Nominal: 3 kg

    • Maximum: 4 kg (reduced speed)

  • Speed:

    • Joint Speed: Up to 180°/s

    • TCP Speed: Up to 2 m/s

  • Accuracy:

    • Position: ±4 mm

  • Force/Torque Control:

    • Resolution: 0.2 N / 0.2 Nm XX

    • Range: ±30 N / ±12 Nm

Control System

  • Hardware:

    • Real-time Controller:

      • NVIDIA Jetson Orin Nano

      • 16GB RAM

      • 512GB SSD

    • FPGA-based motion controller

  • Control Modes:

    • Position Control

      • Joint space control

      • Cartesian space control

      • Trajectory following

    • Force Control  (N/A now)

      • Direct force control

      • Impedance control

      • Hybrid position/force control

    • Torque Control

      • Joint torque control

      • Gravity compensation

      • Compliant control

  • Sampling Rates:

    • Position Loop: 100 Hz

    • Force Control Loop: 100 Hz

Software Architecture

  • Operating System:

    • Real-time Linux kernel

    • ROS 2 middleware support

  • Programming Interfaces:

    • C++ API

    • Python API

    • ROS 2 packages

    • MATLAB/Simulink interface

    • UNITY

  • Built-in Libraries:

    • Forward/Inverse Kinematics

    • Dynamic Model

    • Trajectory Planning

    • Vision Processing

    • Force Control

  • Development Tools:

    • Graphical programming interface

    • Simulation environment

    • Debug tools

    • Performance analysis

Motion Planning

  • Trajectory Generation:

    • Joint space planning

    • Cartesian path planning

    • Dynamic path optimization

    • Obstacle avoidance

  • Path Types:

    • Linear motion

    • Circular motion

    • Spline interpolation

    • Custom path definition

  • Motion Parameters:

    • Configurable acceleration

    • Speed optimization

    • Smooth transition planning

    • Dynamic replanning

Sensor Integration

  • Vision System:

    • Gripper Camera:

      • 1080p resolution

      • Field of View 83°

  • Additional Sensors:

    • Joint position encoders

    • Motor current sensors

    • Collision detection

End-Effector Interface

  • Mechanical Interface:

    • Quick-change mechanism

    • Integrated services (power, data)

  • Electrical Interface:

    • 24V DC power

    • Digital I/O

    • Analog signals

MATLAB/Simulink Integration

  • Features:

    • Real-time control interface

    • Custom block library

    • Data logging and visualization

    • Simulation environment

  • Capabilities:

    • Control algorithm development

    • System identification

    • Performance optimization

    • Hardware-in-the-loop testing

Safety Features

  • Hardware Safety:

    • Emergency stop circuit

    • Brake system on all joints

    • Power monitoring

  • Software Safety:

    • Motion supervision

    • Force monitoring

    • Workspace monitoring

    • Collision detection

  • Operational Safety:

    • Teaching mode

    • Reduced speed mode

    • Virtual barriers

    • User authentication

Power Requirements

  • Input Power:

    • Voltage: 100-240V AC

    • Frequency: 50/60 Hz

    • Maximum Power: 80W

  • Power Management:

    • Energy monitoring

    • Standby mode

    • Recovery system

Environmental Specifications

  • Operating Environment:

    • Temperature: 5°C to 40°C

    • Humidity: 20% to 80%

  • Storage Environment:

    • Temperature: -10°C to 60°C

Communication

  • Wireless:

    • Wi-Fi 6E

    • Optional radio module for long-range

  • Protocols:

    • Delayed telemetry handling

    • Loss-tolerant command system

Applications

  • Research:

    • Robotics research

    • Control system development

    • AI/ML implementation

  • Industrial:

    • Precision assembly

    • Quality inspection

    • Material handling

  • Education:

    • Advanced robotics training

    • Control theory education

    • System integration learning

Documentation and Support

  • Documentation:

    • Technical manual

    • API documentation

    • Example programs

    • Tutorials

  • Support:

    • Online knowledge base

    • Technical support

    • Software updates

    • Training programs

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