Technical data
Model
|
HA3 Pro
|
Load
|
3Kg
|
Arm
span
|
760mm
|
Degree
of freedom
|
7
|
Self-body
weight
|
20Kg
|
Protection
level
|
IP54
|
Power
consumption
|
Regular 300W
Peak 500W
|
Range of motion
|
S axis
(rotation)
|
±170°
|
L axis
(lower arm)
|
±120°
|
E axis
(elbow)
|
±170°
|
U axis
(upper wrist)
|
±120°
|
R axis
(wrist rotation)
|
±170°
|
B axis
(wrist swing)
|
±120°
|
T axis
(wrist rotation)
|
±360°
|
Maximum speed
|
S axis
(rotation)
|
180°/s
|
L axis
(lower arm)
|
180°/s
|
E axis
(elbow)
|
180°/s
|
U axis
(upper wrist)
|
180°/s
|
R axis
(wrist rotation)
|
180°/s
|
B axis
(wrist swing)
|
180°/s
|
B axis
(wrist swing)
|
180°/s
|
Maximum torque
|
S axis
(rotation)
|
110N.m
|
L axis
(lower arm)
|
110N.m
|
E axis
(elbow)
|
110N.m
|
U axis
(upper wrist)
|
110N.m
|
R axis
(wrist rotation)
|
40N.m
|
B axis
(wrist swing)
|
409N.m
|
T axis
(wrist rotation)
|
40N.m
|
Control System Specification
Control
cabinet
|
Ontology
integrated controller
|
Human-computer
interaction equipment
|
Notebook/drag
control gripper
|
safety
equipment
|
Handheld
enable 1 way/handheld emergency stop 1 way
|
Base
interface
|
Ethernet2CH/EtherCAT1CH/RS485/DIO
|
End
interface
|
Ether
CAT 1 channel/power supply 24V/ RS485/DIO
|
Function configuration
|
Drag
teaching function
|
Drag mode: Cartesian space/axis space; Teaching
mode: point position/continuous track
|
High
dynamic force control
|
Cartesian space/axis space impedance control;
force control search motion planning
|
Security
Monitoring
|
Refer to ISO13849, PL.d, Cat 3 safety function
design
|
External
control interface
|
Support high dynamic external control; low-level
force/position control interface; robot model library
|
Repeatability
|
±0.03mm
|
Force measurement resolution
|
0.1N,0.02Nm
|
Force control relative accuracy
|
0.5N,0.1Nm
|
Cartesian
stiffness adjustable range
|
0~3000/m, 0~500N/rad
|
Features of Habot HA3 Pro:
1.Smart & Intelligent--full
state feedback, high dynamic force control, zero force drag
The HI series
7-axis collaborative robot adopts full-state feedback direct force control
technology, which enables it to have high dynamic force control and compliant
control capabilities while taking into account the high precision of position
control. it can independently set the stiffness of the axis space and the
Cartesian space to make it have the same flexibility as a human arm. With the
perfect force control search function, it can be competent for industrial
applications such as precision parts assembly and fine polishing. The
zero-force drag and active compliance based on direct force control enable Hi
to be used in non-industrial scenarios such as auxiliary medical care and
rehabilitation care.
2.Smart--7 degrees of
freedom design, redundant motion control, precise and flexible
With a
7-degree-of-freedom redundant motion design, the robot can reach the same end pose
in different configurations. The Null-Space Motion technology enables the robot
to flexibly avoid obstacles in a narrow working space and enhance the effective
working range of the robot.
3.Sensitive-Sensitive
force perception, one-finger stop, extremely safe
Each joint of Hi
is equipped with a high-precision torque sensor, so that it has the sensitive
collision detection ability of "one-finger stop", which can eliminate
the interaction of mechanical fences and human interaction, thereby reducing the
cost of production environment transformation and improving flexible production
deployment capabilities.
4.Dexterity--no control
cabinet design, lightweight body, easy to deploy
Hi adopts an
integrated design without a control cabinet. The main controller, safety
controller and expansion interface module are integrated in the mechanical arm.
The total weight of the entire robot system is only about 20Kg. With the highly
integrated modular joint design and compact shape design, it can be deployed in
a narrow space, reducing application deployment costs. No control cabinet and
lightweight design also make Hi and AGV easy to use.
5.Handy-accurate
reproduction of drag teaching, zero-based graphical operation
The
cross-platform robot operating software can run on general-purpose devices such
as notebooks and tablets. It adopts graphical interactive guidance programming.
Hi provides a Navigator tool for manual guidance and teaching. With the
"practical" drag function, it can be realized Direct teaching of
points and continuous trajectories, accurate reproduction of drag teaching,
realizing zero-based use of robots. Hi provides more comprehensive control
functions through the RL programming language, and at the same time provides
RCI low-level control capabilities to meet the needs of high-end users such as
education and scientific research, automation process research and development.