RHINO ROBOTICS LTD.
MODEL XR-4

A semi-enclosed, advanced design, five axis, robot arm
with electrical gripper.

DESCRIPTION A five axis robot arm popular with those educators who need a rugged semi-enclosed design suitable for students at the community college through university 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. A Dimensional Drawing of the XR-4 in available in AutoCAD DWF Format. AutoDesk Express Viewer is required to view. Click here to obtain a copy from AutoDesk.

SPECIFICATIONS

Model	XR-4 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 for real time closed loop operation
Controller	Mark IV controller from Rhino (optional)
Payload	4.4 pounds (2 kilograms)
Speed (Gripper)	1 second to open; 2 seconds to close
Speed (Axes)	Programmable, 40 degrees per second
Repeatability	0.157 inches at full extension
Weight	25 pounds (11.4 kg) without base; base is 10 pounds (4.5 kg)
Reach	24 inches from center of waist to finger tips
Work Envelope	Motor "F" Body Rotation - 350 degrees Motor "E" Shoulder Rotation - 150 degrees Motor "D" Elbow Rotation - 180 degrees Motor "C" Wrist Rotation - 250 degrees Motor "B" Gripper Rotation - +/- 7 revolutions
Standard Gripper	1-1/4 inch (31.7 mm) opening for position 1 2-1/2 inch (63.5 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 Vacuum finger attachment 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
Warranty	12 months
Standard Package Components	Standard XR-4 & Mark IV Controller Components (FG6026)

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