R12 low cost small articulated bench top robot arm

Description

The R12-500, Firefly is a complete self-contained five (optional six) axis vertically articulated robot arm system designed as a cost effective solution for bench top automation. Applications include testing, sample handling, machine feeding. The hand terminates in a mounting plate for grippers, vacuum cups etc.

R12-six is a very low cost entry to robotics, fast, accurate and reliable and easy to program. It has a useful 500mm reach. R12-six is a technological breakthrough in bench top robotics. Like the R17 it is a 5 axis articulated robot arm but with a 500mm reach. It employs new light weight, high efficiency digital motors driving through steel reinforced polyurethane timing belts. Optional incremental optical encoders provide exceptional integrity (see below).

The K11 robot controller uses a partnership of CPU and DSP processors and compact high voltage micro-stepping drives providing both speed and precise control and is provided with a simple intuitive teach pad. The controller can also interface with or even control other equipment at the same time as the robot. Software is ROBOFORTH II which makes this robot really easy to get started with yet capable of the most complex tasks, assisted by RobWin project manager which brings everything together on one Windows screen.

Do not let the low cost mislead you - this is not a hobby robot. It is a professional tool made to industrial standards of quality, reliability and performance, machined from solid alloy and finished with aesthetic acrylic covers. The system is supplied complete with all cables, connectors, software, comprehensive manuals, ready to unpack and use immediately.

Specifications

	Drives:	High power micro-stepped hybrid stepping motors, optional encoder watchdogs
	Reach:	500mm/20ins in any direction; 360 degree waist rotation
	Repeatability:	0.1mm (see note)
	Payload:	nominal 500g, max 1Kg (2.2lbs) at flange (repeatability and speed degrade with increasing payload and reach).
	Compliance: droop at 250mm at nominal payload: droop at max reach with max payload:	0.4mm 2.3mm
	Maximum speed:	Shoulder 180 deg/sec, Elbow 270deg/sec, Waist 180 deg/sec.
	Standard cycle time:	2 secs.
	Max torque for hand pitch or roll:	2 Nm (repeatability figures degrade).
	Weight	Robot 12.8Kg/29lbs Controller 11kg/25lbs
	Power:	110/240v ac 420VA (standard controller)
	Temperature range:	0 - 28C (wider range optional)
	MTBF:	10,000 hours
	Safety:	Class 2 stop circuit, stall detect, risk assessment guide. High intensity red LEDs along the arm serve as awareness barrier.
	Noise:	Approx 40-50dB at 1m.
	note: repeatability measured as a standard deviation of all 3 dimensions at 100% speed and zero payload over 24 hours after a 1 hour warming up period. Figures for ISO 9283 available on request.

Videos

(click the thumbnail to view)

Searching for edges
non-youtube flash

6-axis version

Moving glass tubes
non-youtube mp4

chess pick and place

more videos

Options

Encoders

The role of the encoders in the R17 and as an R12 level 1 option is as watchdogs. The loop is closed after completion of each individual motion which is not the same as servo control. The R12 encoder option comprises miniature optical incremental encoders fitted to each axis.
Without encoders the R12 will run accurately and indefinitely open loop without error thanks to micro-stepping drives and accurate transmission. But if the robot suffers a collision then the controller does not know and carries on with the program even though the robot could be out of position. Such collisions usually only occur accidentally during programming and rarely during normal running. It is necessary to run the calibrate routine after such a collision.
If the encoder option is not fitted ST provides a software solution in the form of a quick calibration check that can be included in every robot cycle or n cycles. If there is an error it is reported and the system stops.
A specially calibrated level 2 option is also available whereby the encoders accurately read back the position of the robot when de-energized. The robot can be positioned by hand and its position updated on pressing a key on the keypad. The kinematics software then computes the exact X-Y-Z position of the robot with the hand pitch and roll in degrees.

Grippers
As standard the robot terminates in a mounting flange (see diagrams below). End effectors currently include: electric gripper, SMC 10mm pneumatic gripper, vacuum pickups.
Note: pneumatic gripper is shown with special fingers made for a particular application, not part of the option. Fingers to suit the clients product may be made by the client or ST.
more

Sixth Axis

This is a simple solution that makes the 6th axis entirely optional as opposed to being an integral part of the design. Using a small motor and gearbox it is accurate and tough. Programming is an extension to the Cartesian functions of RoboForth. In this way the system can ensure the end effector points in the same direction (same orientation to X Y Z axes) as the robot moves around, or indeed in any direction you choose. see video

Linear track
up to 3m length, using a powerful motor and two recirculating crossed roller bearings.

High resolution or high speed options.
see video

Optional glove for hazardous environments.

Virtual Demonstration of R17
(R12 has same controls)

Online Demonstration of R12

Workspace

Arm comprises 2 limbs 250mm each plus 360 degrees base rotation.
Therefore the workspace is a sphere 1000mm (40ins) in diameter (not including the hand).

Base fixings to bench	Wrist flange (not to scale)

Warranty, Maintenance and Support

MTBF: (designed) 10,000 hours under normal use.
Warranty: 2 years or 10,000 hours whichever comes first.
24 hour technical support by phone or email (English only)
The mechanics are simple and intuitive, easy to service or repair by any competent technician. A service file with exploded diagrams is available with a step by step setting up procedure.