| AR3 | AR5 | AR10 | ||
| Specifications | Rated load | 3kg | 5kg | 10kg |
| Weight | 7kg | 10kg | 18kg | |
| DOF | 7 | |||
| Operating radius | 650mm | 683mm | 760mm | |
| Repeated positioning accuracy | +0.1mm | |||
| Absolute positioning accuracy | +1mm | |||
| TCP maximum speed | ≥2m/s | |||
| Joint hollow aperture | 6mm | 9mm | 10mm | |
| IP rating | IP54 | |||
| Range of motion | Axis1 | ±360° | ±178° | ±360° |
| Axis2 | ±120° | ±120° | ±120° | |
| Axis3 | ±178° | ±178° | ±178° | |
| Axis4 | -60°~+145° | -60°~+145° | -60°~+145° | |
| Axis5 | ±178° | ±178° | ±178° | |
| Axis6 | ±110° | ±60° | ±110° | |
| Axis7 | ±180° | ±90° | ±180° | |
| Brake | Brake | Joint with the brake | ||
| Force Control | Joint torque sensor | Standard configuration | ||
| End 6-DoF force sensor | Optional (range 200 N/7 Nm, accuracy ≤ 2% F.S.) | |||
| Force control accuracy | ≤0.15N,≤0.05N.m(reference value) | |||
| Force control resolution | ≤0.05N,≤0.02N.m(reference value) | |||
| Overload capacity of force sensor | ≥300%F.S. | |||
| Comprehensive accuracy of force control | ≤1%F.S. | |||
| Sampling frequency of force sensor | ≥5kHz | |||
| Torque closed loop | In initial scheme, controller performs torque closed loop, while in advanced scheme, joint performs torque closed loop | |||
| Admittance control | Single arm admittance is used alone. Update admittance control parameters in real time during admittance execution | |||
| Load recognition | Automatic recognition of load | |||
| Input power supply | Power voltage | 48V DC(±15%) | ||
| Communication | Communication mode | EtherCAT(Cycle 1±0.1ms) | ||
| Noise | Noise | ≤60dB | ≤60dB | ≤60dB |
| Temperature | Operating temperature | 0°C~50°C The temperature rise shall not exceed 30°C, and the overall temperature of the machine shall not exceed 60°C | ||
| Humidity | Operating humidity | 10%-90% RH (non-condensing) | ||
| Vibration | Vibration resistance | Refer to GB/T 4798.5-2007 Severity: 5M2 | ||
| Impact strength | Refer to GBT39266-2020 Impact acceleration: 10 g | |||