Table 1 Specifications of slave arm system
From: Master–slave manipulator for laparoscopic surgery using a 6-axis vertical articulated robot
6-axis vertical articulated robot (MOTOMAN-MH3F) | ||
|---|---|---|
Payload | 3 kg | |
Lower arm length | 260 mm | |
Upper arm length | 270 mm (offset 30 mm) | |
Wrist length | 90 mm (from wrist joint to mechanical interface) | |
Vertical Reach | 804 mm | |
Horizontal reach | 532 mm | |
Joint | Maximum motion range | Maximum speed |
1st Axis (Turning) | −160° ~ +160° | 200°/s (3.49 rad/s) |
2nd Axis (Lower arm) | −85° ~ +90° | 150°/s (2.62 rad/s) |
3rd Axis (Upper arm) | −105° ~ +260° | 190°/s (3.32 rad/s) |
4th Axis (Wrist roll) | −170° ~ +170° | 300°/s (5.24 rad/s) |
5th Axis (Wrist pitch) | −120° ~ +120° | 300°/s (5.24 rad/s) |
6th -Axis (Wrist roll) | −360° ~ +360° | 420°/s (7.33 rad/s) |
Weight | 27 kg | |
Dummy forceps | ||
Shaft diameter | φ5 mm | |
Shaft length | 350 mm | |
Total length | 500 mm (from mechanical interface to tip) | |