| Specifications Model | SCORBOT ER ? 4U |
| Mechanical Structure | Vertical articulated |
| Number of Axes | 5 axes plus servo gripper |
| Axis Movement | Axis 1: Base rotation:- 310°
Axis 2: Shoulder rotation:- +130° / ?35° Axis 3: Elbow rotation:- 130° Axis 4: Wrist pitch:- 130° Axis 5: Wrist roll:- Unlimited (mechanically); 570° (electrically) |
| Maximum Operating Radius | 610 mm (24.4?) |
| End Effector | DC servo gripper, with optical encoder,parallel finger motion; Measurement of object?s size by means of gripper sensor and software. |
| Maximum Gripper Opening | 75 mm (3?) without rubber pads65 mm (2.6?) with rubber pads |
| Homing | Fixed position on each axis,found by means of microswitches |
| Feedback | Optical encoder on each axis |
| Actuators | 12 VDC servo motors |
| Motor Capacity (axes 1?6) | 15 oz. in Peak Torque (stall)70 W Power for Peak Torque |
| Gear Ratios | Motors 1, 2, 3: 127.1:1Motors 4, 5: 65.5:1
Motor 6 (gripper) 19.5:1 |
| Transmission | Gears, timing belts, lead screw |
| Maximum Payload | 1 kg (2.2 lb), including gripper |
| Position Repeatability | 0.18 mm (0.007?) at TCP (tip of gripper) |
| Weight | 10.8 kg (23.8 lb) |
| Maximum Path Velocity | 600 mm/sec (23.6?/sec) |
| Ambient Operating Temperature | 2°?40°C (36°?104°F) |