RHINO ROBOTICS LTD.
MODEL XR-4

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

 

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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)


RHINO ROBOTICS LTD.

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