FACULTATEA DE INGINERIA SI MANAGEMENTUL SISTEMELOR TEHNOLOGICE

UNIVERSITATEA POLITEHNICA DIN BUCURESTI

FACULTATEA DE INGINERIA SI MANAGEMENTUL SISTEMELOR
TEHNOLOGICE

Tema de casa

UNIVERSITATEA POLITEHNICA DIN BUCURESTI

FACULTATEA DE INGINERIA SI MANAGEMENTUL SISTEMELOR TEHNOLOGICE

TITULAR CURS: STUDENT:

Conf. Dr. Ing Tiberiu DOBRESCU Pascaru Cosmin
Grupa:611BB
I. Kuka
1. Roboti tip brat articulat de uz general:

Max
Parameters Min
Payload 5 kg 500 kg
Axes 6 6
H-Reach 650 mm 2836 mm
Repetability ±0.02 mm ±0.15mm
Robot Mass 48 kg 2350 kg
Robot Motion Speed
Axis 1 375 °/s (6.54 rad/s) 69 °/s (1.2 rad/s)
Axis 2 300 °/s (5.24 rad/s) 69 °/s (1.2 rad/s)
Axis 3 375 °/s (6.54 rad/s) 69 °/s (1.2 rad/s)
Axis 4 410 °/s (7.16 rad/s) 77 °/s (1.34 rad/s)
Axis 5 410 °/s (7.16 rad/s) 76 °/s (1.33 rad/s)
Axis 6 660 °/s (11.52 rad/s) 120 °/s (2.09 rad/s)
Robot Motion Range
Axis 1 ±170° ±185°
Axis 2 +45° - 190° +110° - 40°
Axis 3 +165° - 119° +60° - 184°
Axis 4 ±190° ±350°
Axis 5 ±120° ±118°
Axis 6 ±358° ±350°
2. Roboti tip brat articulat pentru paletizare:

Parameters Min Max

Payload 6 kg 500 kg
Axes 6 6
H-Reach 1200 mm 2836 mm
Repetability ±0.05 mm ±0.15mm
Robot Mass 250 kg 2350 kg
Robot Motion Speed
Axis 1 150 °/s (2.62 rad/s) 69 °/s (1.2 rad/s)
Axis 2 160 °/s (2.79 rad/s 69 °/s (1.2 rad/s)
Axis 3 170 °/s (2.97 rad/s) 69 °/s (1.2 rad/s)
Axis 4 320 °/s (5.59 rad/s) 77 °/s (1.34 rad/s)
Axis 5 320 °/s (5.59 rad/s) 76 °/s (1.33 rad/s)
Axis 6 460 °/s (8.03 rad/s) 120 °/s (2.09 rad/s)
Robot Motion Range
Axis 1 +180° - 180° ±185°
Axis 2 +136° - 63° +110° - 40°
Axis 3 +55° - 235° +60° - 184°
Axis 4 +200° - 200° ±350°
Axis 5 +115° - 115° ±118°
Axis 6 +400° - 400° ±350°
3. Roboti de tip brat articulat pentru vopsire:

Parameters Min Max

Playload 5 kg 140 kg
Axes 6 6
H-reach 1412 mm 2400 mm
Repetability ±0.1mm ±0.15mm
Robot Mass 127 kg 2400 kg
Robot Motion Speed
Axis 1 154 °/s (2.69 rad/s) 100 °/s (1.75 rad/s)
Axis 2 154 °/s (2.69 rad/s) 100 °/s (1.75 rad/s)
Axis 3 228 °/s (3.98 rad/s) 100 °/s (1.75 rad/s)
Axis 4 343 °/s (5.99 rad/s) 156 °/s (2.72 rad/s)
Axis 5 384 °/s (6.7 rad/s) 171 °/s (2.98 rad/s)
Axis 6 721 °/s (12.58 rad/s) 241 °/s (4.21 rad/s)
Robot Motion Range
Axis 1 ±155° ±185°
Axis 2 +65° - 180°
Axis 3 +158° - 15° +148° - 120°
Axis 4 ±350° ±350°
Axis 5 ±130° ±120°
Axis 6 ±350° ±350°
4. Roboti de tip SCARA:

Parameters Min Max

Payload 5 kg 10 kg

Axes 4 4

H-Reach 350 mm 850 mm

Repetability ±.015mm ±.025mm

Robot Mass 20 kg 50 kg

Robot Motion Speed

Axis 1 525 °/s (9.16 rad/s) 335 °/s (5.85 rad/s)

Axis 2 450 °/s (7.85 rad/s) 500 °/s (8.73 rad/s)

Axis 3 525 °/s (9.16 rad/s) 2300 °/s (40.14 rad/s)

Axis 4 720 °/s (12.57 rad/s) 1485 °/s (25.92 rad/s)

Robot Motion Range

Axis 1 +155° - 155° +165° - 165°

Axis 2 +155° - 155° +147° - 147°

Axis 3 +145° - 145° +350° - 350°

Axis 4 +145° - 145° +358° - 358°

II. ABB Group:
1.Roboti tip brat articulat de uz general:
Parameters Min Max
Payload 4 kg 200 kg
Axes 6 6
H-Reach 2 mm 2800
Repetability ±0.35mm ±0.15mm
Robot Mass 170 kg 2390 kg
Robot Motion Speed
Axis 1 130 °/s (2.27 rad/s) 90 °/s (1.57 rad/s)
Axis 2 140 °/s (2.44 rad/s) 70 °/s (1.22 rad/s)
Axis 3 140 °/s (2.44 rad/s) 70 °/s (1.22 rad/s)
Axis 4 320 °/s (5.59 rad/s) 110 °/s (1.92 rad/s)
Axis 5 380 °/s (6.63 rad/s) 110 °/s (1.92 rad/s)
Axis 6 460 °/s (8.03 rad/s) 110 °/s (1.92 rad/s)
Robot Motion range
Axis 1 +170° - 170° ±360°
Axis 2 +150° - 90° ±155°
Axis 3 +80° - 100° ±138°
Axis 4 +155° - 155° ±600°
Axis 5 +135° - 90° ±240°
Axis 6 +200° - 200° ±600°
2. Roboti tip brat articulat pentru paletizare:
Parameters Min Max
Payload 6 kg 250 kg
Axes 6 4
H-Reach 1200 mm 3150 mm
Repetability ±0.05mm ±0.1mm
Robot Mass 250 kg 1650 kg
Robot Motion Speed
Axis 1 150 °/s (2.62 rad/s) 95 °/s (1.66 rad/s)
Axis 2 160 °/s (2.79 rad/s) 95 °/s (1.66 rad/s)
Axis 3 170 °/s (2.97 rad/s) 95 °/s (1.66 rad/s)
Axis 4 320 °/s (5.59 rad/s) 240 °/s (4.19 rad/s)
Axis 5 400 °/s (6.98 rad/s)
Axis 6 460 °/s (8.03 rad/s)
Robot Motion Range
Axis 1 +180° - 180° ±+85°
Axis 2 +136° - 63° ±+120°
Axis 3 +55° - 235°
Axis 4 +200° - 200°
Axis 5 +115° - 115°
Axis 6 +400° - 400°
3. Roboti tip brat articulat pentru vopsire:
Parameters Min Max
Payload 5 kg 25 kg
Axes 6 4
V-Reach 1200 mm
H-Reach 1700 mm 1620 mm
Repetability ±0.5mm ±0.15mm
Robot Mass 530 kg 820 kg
Robot Motion Speed
Axis 1 112 °/s (1.95 rad/s) 137 °/s (2.39 rad/s)

Axis 2 112 °/s (1.95 rad/s) 137 °/s (2.39 rad/s)

Axis 3 112 °/s (1.95 rad/s) 137 °/s (2.39 rad/s)

Axis 4 360 °/s (6.28 rad/s) 440 °/s (7.68 rad/s)

Axis 5 360 °/s (6.28 rad/s)

Axis 6 700 °/s (12.22 rad/s)
Robot Motion Range
Axis 1 ±300° ±300°
Axis 2 ±145° ±160°
Axis 3 ±95° ±150°
Axis 4 ±176° ±920°

Axis 5 ±176°
Axis 6 ±640°
4. Roboti cu structurara paralela:

Parameters Min Max

Payload 1 kg 3 kg
Axes 4 4
H-Reach 1500 mm 1130 mm
Repetability ±0.1mm ±.1mm
Robot Mass 140 kg 120 kg