Santulan Parallel 6DOF Research Platform

Nugenix

Santulan Parallel 6DOF Research Platform

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Parallel Platform

Santulan Parallel 6DOF Research Platform

Continuous payload

3 kg (at 11.1V)

Maximum Joint Speed

378°Per Second

Total Weight

5 kg with mouting base

Power consumption

11.1V 12.0V

Santulan Parallel 6DOF

Research Platform

±0.173 mm

Pose Repeatability

0.5m/s

Maximum Velocity

Description

Santulan Parallel Platform is a strong and agile 6-Degrees of Freedom parallel platform with a wide workspace. It is best suited for gaming integrations, precisely controlled manipulators, camera mounts with exceptional peep features, medical applications, 3D and 5D printing machines, laser cutting/engraving, and academic or research labs.

In the inverted mounting configuration, it can handle a wide range of food products, and can easily do pick-and-place operations as in the pharma, and electronics industry.

Technical Specifications

Mechanical

Type	6-RSS Parallel Platform, 6DOF
Number of axes	6
Pose repeatability	±0.173 mm (ISO 9283)
Weight	5 kg with mouting base
Cubical workspace	60mm × 60mm × 60mm\
Max Displacements	X ~ 320mm, Y ~ 308mm, Z ~ 158mm
Max Angular Displacements	Roll ~ 43°, Pitch ~ 25°, Yaw ~ 65°
Payload	3 kg (at 11.1V)
Operating temperature	-5°C to +80°C
Mounting position	Floor, ceiling, walls, floating
Size	300mm × 300mm × 450mm with a Supporting Base Stand of 50mm.
Surface finish, paintwork	Base stand (stationary) Metallic gray, Moving parts: Chromium-plated
Material	Body – Chromium-plated mild steel
	Actuators – Engineering plastic body
	Links – Mild Steel Coupler
	Bolts – Stainless Steel
Joint Level Accuracy	0.088°
Minimum Incremental Motion	1.5mm
Maximum Velocity	0.5m/s
Maximum Joint Torque	5.5N.m (at 11.1V) 6.0N.m (at 12V) 7.3N.m (at 14.8V)
Maximum Joint Speed	378°Per Second
Force/Torque Control	Torque control (up to 10-bit precision) at each joint allows end-effector force/torque control
Sound Level	< 50dB
Top Platform	Modified for more agility and lightweight. Provision for mounting sensors and gripper

Electrical

Operating Voltage	11.1V 12.0V (Recommended) 14.8V
Maximum Current	30A at Full load
Standby Current	600mA
Connecting Cable	Single 3-Wire cable for Communication and Power
Actuator Characteristics	Full metal gear PID adjustable using separate
	Actuator GUI Contactless absolute encoder (12 bit for 360°)
	Feedback: Position, Temperature Position, Velocity, or Torque Control
Power Supply	110/220 V to 12V

Software

Supported platforms	PC with Mac or Linux (Ubuntu, Debian, Raspberry Pi, or other distributions)
Programming Compatibility	MATLAB, Python, Java, C/C++, C#, LabView, ROS.
Communication	USB to TTL (Daisychain – Half duplex Asynchronous Serial Communication)
API Compatibility	Python, ROS

GUI Features

+ Cartesian Jogging for Position and Orientation

+ PTP Motion using Cycloidal, Cubic, Quintic, and Cosine trajectories

+ Controllers: Virtual using mouse, Android App or 3D Joystick

+ Programmed motions: Planar/Vertical SHM, Spiral, Lissajous, Helical, Precession

+ Live plot for joint angles for any cartesian motion, end-effector homogeneous transformation matrix, error logs

+ Mouse interactive 3D visualization and standard views buttons

+ Trace feature for end-effector motion visualization

+ Inbuilt safety feature for singularity check and joint angle limits

Stewart Force Am Platform Includes

+ 1 No. all rotary parallel Stewart platform with actuators and base stand.

+ USB to TTL converter for communication.

+ 12V, 30A power supply.

+ Junction box with Emergency stop.

+ 3 core, 10m, submersible cable.

+ USB Drive with Software, API, Assembly Instructions, User Documentation, Android Application, Videos, and Example codes.

+ Lab Manuals for teaching.

Requirements

Standard computer with i5 procesor or above, 8 GB RAM, with Graphics card. Preferably with Linux Ubuntu 14.04 or higher.

Field Of Use

+ As a Laboratory Apparatus or in Classroom for Demonstrating Parallel Robot.

+ Positioners for Cameras, Solar Plates, Mirrors, and Surgical Instruments.

+ Motion Platforms: Simulators, Gaming Stations, Medical Applications, Test Workbench.

+ Torque-controlled joints allow it to be used as a Haptic Feedback Device or as an Assembly Robot.

+ Low-Frequency Vibration Compensators or Dynamic Balancing.

Santulan Parallel 6DOF Research Platform

Continuous payload

Maximum Joint Speed

Total Weight

Power consumption

Santulan Parallel 6DOF

Research Platform

±0.173 mm

0.5m/s

Description

Technical Specifications

Mechanical

Electrical

Software

GUI Features

Stewart Force Am Platform Includes

Requirements

Field Of Use

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NUGENIX