RHINO ROBOTICS LTD.
MODEL XR-2

A rugged, open design, five axis, robotic arm
with electrical gripper.

DESCRIPTION A five axis robotic arm popular with those educators who needed a rugged open design suitable for beginning students at the high school through community college level. Constructed out of 0.125 inch and 0.250 inch thick aluminum plate for years of trouble free service. Powered by six PMDC servo motors with integral gearboxes and incremental encoders. Home position microswitches on all axes and on the hand. Easy to service and repair construction throughout. A popular design with installations throughout the world. The XR-2 Robotic Arm is an obsolete model. The following is provided for information purposes only.

SPECIFICATIONS

Model	XR-2 Robot Arm
Applications	Education, training, research
Configuration	5 Axes plus gripper All axes completely independent All axes can be controlled simultaneously
Drives	Six PMDC servo motors with integral gearboxes and incremental optical encoders
Controller	Mark III Controller if XR-2 Motors are Version 4; Mark II Controller if Version 2 or 3
Payload	2.2 pounds (1 kilograms)
Speed (Axes)	15 inches per second at finger tips
Repeatability	0.157 inches at full extension
Weight	16 pounds (7.3 kg) without base; base is 10 pounds (4.5 kg)
Reach	22-1/2 inches from center of pivot
Work Envelope	Motor "F" Body Rotation - 360 degrees Motor "E" Shoulder Rotation - 250 degrees Motor "D" Elbow Rotation - 270 degrees Motor "C" Wrist Rotation - 270 degrees Motor "B" Gripper Rotation - +/- 7 revolutions
Standard Gripper	1 inch (25.4 mm) opening for position 1 2 inch (50.8 mm) opening for position 2
End Effector Options	Long finger attachment Triple finger attachment Narrow finger attachment Clam shell finger attachment Shovel attachment Moto Dremel hand Rhino writer hand End effector package (includes above)
Accessories	Rotary carousel Tilting rotary carousel X-Y table Belt conveyor Slide base Experimental motor kits Support hardware kit
Software for PC	RoboTalk robot control language Kernel control language When used with the Mark III Controller only.
Additional Specifications	XR-2 Basic Specification Sheet

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RHINO ROBOTICS LTD. 5928 State Route 128 Miamitown, OH 45041-0230 Telephone: 513-353-9772 Fax: 513-353-4040