13. Working principle and specification
This chapter describes the working space, working principle, size and key technical specifications of WLKATA Mirobot.
The workspace of WLKATA Mirobot.
WLKATA Mirbot has a six-joint coordinate system and a Cartesian space coordinate system.
1 Joint coordinate system: the coordinate system determined by reference to each moving joint.
•This manipulator has six joints: j1 j2 J3 J4 J5 J6, all of which are rotary joints. The positive rotation direction of each joint follows the right-hand rule and the thumb points to the opposite direction of the output shaft of each shaft motor.
2 Cartesian coordinate system: The coordinate system is determined by reference to the base of the manipulator.
•The origin of the coordinate system is the center of the base platform.
•The x-axis direction is perpendicular to the fixed base forward.
•The y-axis direction is perpendicular to the fixed base to the left.
The motion modes of Mirobot manipulator include Joint motion mode and Coordinate mode.
1 Joint motion mode:
the Joint motion mode means that each joint of the manipulator is controlled separately. You can click the joint motion button to move a single joint.
•Click "J1 +" and "J1 -" to control the positive and negative rotation of the base motor.
•Click "J2 +" and "J2 -" to control the positive and negative rotation of boom motor.
•Click "J3 +" and "J3 -" to control the positive and negative movement of jib motor.
•Click "J4 +" and "J4 -" to control the positive and negative rotation of the fourth axis at the end.
•Click "J5 +" and "J5 -" to control the positive and negative rotation of the fifth axis at the end.
•Click "J6 +" and "J6 -" to control the positive and negative rotation of the sixth axis at the end.
2 Cartesian motion mode:
The Cartesian motion mode of the manipulator controls the position and attitude of the en-effector. You can click the coordinate and RPY angle motion buttons to change the position and attitude of the end actuator.
•Click "x +" and "X -" to control the manipulator to move along the positive and negative direction of the X-axis.
•Click "Y +" and "Y -" to control the manipulator to move along the positive and negative direction of the Y-axis.
•Click "Z +" and "Z -" to control the manipulator to move along the positive and negative direction of the Z-axis.
•Click "PX +" and "PX -" and the end posture of the manipulator rotates along the X-axis.
•Click "py +" and "py -" to rotate the end posture of the manipulator along the Y-axis.
•Click "PZ +" and "PZ -" and the end posture of the manipulator rotates along the Z-axis.
The Cartesian motion mode supports point-to-point motion mode and linear interpolation motion mode. Please refer to the WLKATA Mirobot communication instructions for specific modes information.
|Repeated positioning accuracy||0.2mm|
|Communication Interface||USB/WiFi */Bluetooth|
|Power supply voltage||100V-240V, 50/60 Hz|
|Shaft||working range||maximum speed|
|Axis 1||-100° to +100°||31°/s|
|Axis 2||-60° to +90°||65°/s|
|Axis 3||-180° to +50°||28°/s|
|Axis 4||-180° to +180°||110°/s|
|Axis 5||-180° to +40°||33°/s|
|Axis 6||-180° to +180°||66°/s|
|Net weight (manipulator and controller)||1.5kg|
|Round base size||＜diameter160mm|
|Material of manipulator||Aluminum alloy, ABS engineering plastics|
|Package specification (L×w×h)||220mm×160mm×270mm|
|The dimension of standard outer box (L × w × h)||300mmx200mmx400mm|
The size parameters of WLKATA Mirobot are shown in Figure below.