Brief description of the model

• industry robot with six degrees of freedom
• the length and shape of the arm are designed for optimum performance with a maximum reach being further extended yet the ability retained to cover work area near to the unit
• a greater operating radius is insured in applications calling for a ceilinghung unit, as well
• the robot has an enlarged swing area (-240 to +240 ), enabling the rear space to be put to good use, too
• maximum combined speed is 4,400 mm/sec. Furthermore, the speed at which the wrist section (secondary arm) moves is boosted to cut down on cycle time in assembly operation
• a positioning repeatability of as high as ±0.02 mm is realized. Highrigidity arm and active-gain control are combined to achieve a high straight-ahead motion accuracy
• robot comes standard with the following interfaces: Ethernet (TCP/IP), USB, RS-232, CC-Link, CRnQ, GOT
• the robot can also contain other interfaces, in this case robot contain the Profibus.
• part of the robot arm is pneumatic line and electrical wiring for robotic grippers

Gallery

Robot's Outer Dimensions and Motion Space

Specification of robot arm

• Type: RV-2SDB
• Protection class: IP30
• Installation: Floorstanding, ceiling-hung, and wall-mounted
• Structure: Vertical articulated arm robot
• Degrees of freedom: 6
• Arm length: 230mm + 270mm
• Maximum reach radius: 504mm
• Operating range:
  • J1: 480° (od -240° do +240°)
  • J2: 240° (od -120° do +120°)
  • J3: 160° (od       0° do +160°)
  • J4: 400° (od -200° do +200°)
  • J5: 240° (od -120° do +120°)
  • J6: 720° (od -360° do +360°)
• Maximum angular velocity:
  • J1: 225°/s
  • J2: 150°/s
  • J3: 275°/s
  • J4: 412°/s
  • J5: 450°/s
  • J6: 720°/s
• Maximum composite speed: 4400mm/s
• Rated mass load capacity: 2kg
• Maximum mass load capacity: 3kg
• Position repeatability: 0,02 mm
• Mass: 19kg

Robot axes:

Using the model in pedagogy

• courses

• Distributed Control Systems (1st grade master degree)

• diploma theses

• PAPCUN, Peter: Control of robot integrated in flexible production line
  (supervisor: doc. Ing.Ján Jadlovský CSc., consultant: Ing. Matej Čopík) - 2011
• ADAMONDY, Peter: Using Kinect device to control robot by human movement
  (supervisor: doc. Ing.Ján Jadlovský CSc., consultant: Ing. Peter Papcun) - 2012
• DUPLINSKÝ, Tomáš: Robot control using the Android platform
  (supervisor: doc. Ing.Ján Jadlovský CSc., consultant: Ing. Peter Papcun) - 2012

Using model in the research

• dissertation theses

• PAPCUN, Peter: Modeling and optimization of robotic and technological production lines
  (supervisor: doc. Ing. Ján Jadlovský, CSc.) - 2014 (in preparation)

• publications

• 2012
  PAPCUN, P. - ČOPÍK, M. - ILKOVIČ, J.: Control of robot integrated in flexible production line. In: Electroscope – online časopis pro elektrotechniku, ročník 2012, číslo II. ISSN 1802-4564,(ADE)
  
  ILKOVIČ, J. - PAPCUN, P.: Material flow in Flexible Assembly Company. In: SCYR 2012 : 12th Scientific Conference of Young Researchers of Faculty of Electrical Engineering and Informatics Technical University of Košice: proc. - Košice: FEI TU, 2012 S. 177-180. - ISBN 978-80-553-0943-9. (AFD)
  
  PAPCUN, P. - ČOPÍK, M.: Remote control of Mitsubishi industrial robot. In: SCYR 2012 : 12th Scientific Conference of Young Researchers of Faculty of Electrical Engineering and Informatics Technical University of Košice: proc. - Košice: FEI TU, 2012 S. 212-215. - ISBN 978-80-553-0943-9. (AFD)
  
  DUPLINSKÝ, T. – PAPCUN, P. – JADLOVSKÝ, J.: Robot control using the Android platform. In: Electrical Engineering and Informatics 3 : Proceeding of the Faculty of Electrical Engineering and Informatics of the Technical University of Košice. Košice, FEI TU, 2012 - ISBN 978-80-553-0890-6. (AED)
  
  ADAMONDY, P. – PAPCUN, P. – JADLOVSKÝ, J.: Using Kinect device to control robot by human movement. In: Electrical Engineering and Informatics 3 : Proceeding of the Faculty of Electrical Engineering and Informatics of the Technical University of Košice. Košice, FEI TU, 2012 - ISBN 978-80-553-0890-6. (AED)