15.4 UNIMATION PUMA (360, 550, 560 SERIES)

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In general,

- an articulated arm with 3 dof for positioning, and 3 dof for orientation

- left/right arm configurations are possible

- uses DC servo motors for drive

- uses 110-130 VAC, 50-60Hz, 1.5KW

- weight 120 lb

- repeatability 0.004in

- RS-232C port for dumb terminal

- 32 parallel I/O lines

- memory 16K

- programming language is VAL

joint 1 (Waist)

joint type revolute

range 315°

max slew rate 1.9 rad/sec.

resolution .0001 rad/bit

maximum static torque 9.9Nm

joint 2 (Shoulder)

joint type revolute

range 320°

max slew rate 1.8 rad/sec.

resolution .00009 rad/bit

maximum static torque 14.9Nm

joint 3 (Elbow)

joint type revolute

range 300°

max slew rate 2.6 rad/sec.

resolution .000146 rad/bit

maximum static torque 9.1Nm

joint 4 (Wrist Rotation)

joint type revolute

range 575°

max slew rate 8.7 rad/sec.

resolution .000181 rad/bit

maximum static torque 1.5Nm

joint 5 (Wrist Bend)

joint type revolute

range 235°

max slew rate 5.6 rad/sec.

resolution .000199 rad/bit

maximum static torque 1.4Nm

joint 6 (Flange Rotation)

joint type revolute

range 525°

max slew rate 5.2 rad/sec.

resolution .000247 rad/bit

maximum static torque 1.1Nm