Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001

39.2.4 Unimation Puma (360, 550, 560 Series)

 

· In general,

  1. - an articulated arm with 3 dof for positioning, and 3 dof for orientation
  2. - left/right arm configurations are possible
  3. - uses DC servo motors for drive
  4. - uses 110-130 VAC, 50-60Hz, 1.5KW
  5. - weight 120 lb
  6. - repeatability 0.004in
  7. - RS-232C port for dumb terminal
  8. - 32 parallel I/O lines
  9. - memory 16K
  10. - programming language is VAL

 

· joint 1 (Waist)

  1. joint type revolute
  2. range 315°
  3. max slew rate 1.9 rad/sec.
  4. resolution .0001 rad/bit
  5. maximum static torque 9.9Nm

 

· joint 2 (Shoulder)

  1. joint type revolute
  2. range 320°
  3. max slew rate 1.8 rad/sec.
  4. resolution .00009 rad/bit
  5. maximum static torque 14.9Nm

 

· joint 3 (Elbow)

  1. joint type revolute
  2. range 300°
  3. max slew rate 2.6 rad/sec.
  4. resolution .000146 rad/bit
  5. maximum static torque 9.1Nm

 

· joint 4 (Wrist Rotation)

  1. joint type revolute
  2. range 575°
  3. max slew rate 8.7 rad/sec.
  4. resolution .000181 rad/bit
  5. maximum static torque 1.5Nm

 

· joint 5 (Wrist Bend)

  1. joint type revolute
  2. range 235°
  3. max slew rate 5.6 rad/sec.
  4. resolution .000199 rad/bit
  5. maximum static torque 1.4Nm

 

· joint 6 (Flange Rotation)

  1. joint type revolute
  2. range 525°
  3. max slew rate 5.2 rad/sec.
  4. resolution .000247 rad/bit
  5. maximum static torque 1.1Nm