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| Parameter Classification | Parameters | HA7R-5S |
|---|---|---|
| Overall parameters | Payload (including hands) | 5 kg |
| Body weight (excluding hands) | 12 kg | |
| Reachable spatial radius | 860 mm | |
| Degrees of freedom | 7 | |
| Average power consumption | Approximately 160 W | |
| Secondary development | ROS SDK、Python API、C++ API | |
| Teaching methods | Drag-and-drop teaching, remote teaching | |
| Installation method | Flange connection (customizable) | |
| Mounting flange | 85 mm | |
| noise | ≤52 dB (tested at a distance of 1m with background noise below 30dB) | |
| Maximum temperature rise of arm body | ≤25℃ | |
| Communication Protocol | EtherCAT | |
| Power supply voltage | 48 VDC | |
| Material | Aluminum alloy, nylon | |
| Base diameter | 80 mm | |
| Security Protection | Overcurrent protection, overload protection, overvoltage and undervoltage protection, overspeed protection, stall protection | |
| Full-arm self-collision protection | Available (controller level) | |
| Impedance control | Joint space and Cartesian space impedance control | |
| Force control indicators | Cartesian space force control error < 2N | |
| Repeatability | ±0.1mm | |
| End effector (optional) | Seven-DOF dexterous hand (0.7kg), gripper | |
| Electrical interface | XT30UPB-M、A1002W-S-4P | |
| Ambient temperature | -20℃~45℃ | |
| Ambient humidity | 20%~80% (non-condensing) | |
| Protection level | IP40 | |
| Joint parameters | Range of motion | Joint 1: ±180°, Joint 2: -20°~180°, Joint 3: ±180°, Joint 4: 0~135°, Joint 5: ±180°, Joint 6: ±30°, Joint 7: ±50° |
| Maximum speed at the joint output end | Joints 1-4: 3.6 rad/s; Joints 5-7: 4.1 rad/s | |
| Maximum allowable average load torque | Joints 1-4: 51 Nm; Joints 5-7: 6.5 Nm | |
| Joint encoder | Dual encoder | |
| Work mode | CST, CSV, CSP, PP, PD modes | |
| Joint force sensor | Built-in (optional) | |
| Brake type | Permanent magnet brake (joints 1, 2, 3, 4) | |
| Teach pendant parameters (optional) | size | 280 mm*199 mm*70.7 mm |
| weight | 1.2 kg | |
| monitor | 8-inch resistive color LCD TFT touchscreen, 800*600 pixels | |
| Connection length | 4.5 m | |
| Protection level | IP65 | |
| Controller parameters | Size (without case/with case) | 110 mm * 81 mm * 1.6 mm (without casing) 114 mm * 86 mm * 30 mm (with outer casing) |
| Weight (without casing/with casing) | 91.5 g (without shell) 390 g (with shell) |
|
| CPU | RK3588 | |
| RAM | 8G | |
| ROM | 64G | |
| operating system | Bihu Real-time Linux | |
| interface | WiFi6、LAN*2 | |
| Power supply method | 5.5*2.1mm DC jack and 2-pin 3.5mm pitch connector, 12V DC input. | |
| Maximum power consumption | 52W | |
| Supply current | 2A |
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