|Armload||15||kg (will not be tested in the thesis)|
|Number of axes||6|
|Robot weight||Max 60||kg|
|Upper arm weight||Max 15||kg|
The robot arm resembles a human arm in several ways. It consists of a forearm, an upper arm and a wrist, and is standing on a base or foot. This concept has a thin wrist, with smooth passages for cables to run through keeping costs down. When counting axes, you start from the base with axis one, and end up with the tip of the wrist which is axis six. Axes 1, 4, 6 (yellow) are rotation axes, and 2, 3, 5 (red) are bending axes.
The design is based on existing ABB robots (IRB 2400 and IRB 2600), and inherits some of their specifications.
Paper authors; André Jaber. 20 Januari 201.