R12 low cost small articulated bench top robot arm

optional gripper

Low cost bench-top 500mm 5-axis general purpose articulated robot arm

Features

The R12-500, Firefly is a complete self-contained five axis vertically articulated robot arm system designed as a cost effective solution for bench top automation. Applications include testing, sample handling, machine feeding. The hand terminates in a mounting plate for grippers, vacuum cups etc.
Firefly is a very low cost entry to robotics, fast, accurate and reliable and easy to program. It has a useful 500mm reach. The mechanics are simple and reliable and we give a 2 year warranty. It is easy to apply and program yet is capable of the most complex tasks. It is a technological breakthrough in bench top robotics. Like the R17 it is a 5 axis articulated robot arm but smaller, lighter, faster and above all lower cost. Do not let the low cost mislead you - this is not a hobby robot. It is a professional tool made to industrial standards of quality, reliability and performance.
Firefly uses new light weight, high efficiency digital motors driving through steel reinforced polyurethane timing belts. Optional incremental optical encoders provide exceptional integrity (see below). The package includes the new Mk5 controller which again is simple and reliable using a partnership of fast CPU and DSP processors and compact micro-stepping drives providing both speed and precise control, provided with a simple intuitive teach pad. The controller can also interface with or even control other equipment at the same time as the robot.
Software is ROBOFORTH II which makes this robot really easy to get started with yet the most complex motions, interfaces and peripherals may be programmed, assisted by RobWin project manager which brings everything together on one Windows screen. Everyone who uses this system agrees it is the most flexible robot software on the planet. You'll find it a joy to use.

Specifications

Drives: High power micro-stepped hybrid stepping motors,
optional encoder watchdogs

Reach: 500mm/20ins in any direction; 360 degree waist rotation

Repeatability (no payload): +/-0.1mm

Payload: nominal 500g, max 1Kg (2.2lbs) at flange
(repeatability and speed degrade with increasing payload and reach).

Compliance:
droop at 250mm at nominal payload:
droop at max reach with max payload:
0.4mm
2.3mm

Maximum speed: Shoulder 180 deg/sec, Elbow 270deg/sec, Waist 180 deg/sec.

Standard cycle time: 2 secs.

Max torque for hand pitch or roll: 2 Nm (repeatability figures degrade).

Weight Robot 12.8Kg/29lbs Controller 11kg/25lbs

Power: 110/240v ac 420VA (standard controller)

Temperature range: 0 - 28C (wider range optional)

MTBF: 10,000 hours

Options

Encoders

The role of the encoders in the R17 and as an R12 level 1 option is as watchdogs. The R12 will run accurately and indefinitely without error thanks to micro-stepping drives and accurate transmission. Without the encoders if the robot suffers a collision then the controller does not know and carries on with the program even though the robot could be out of position. Such collisions usually only occur accidentally during programming and rarely during normal running. The watchdog option is an option if extra integrity is required.
If the encoder option is not fitted ST provides a software solution in the form of a quick calibration check that can be included in every robot cycle or n cycles. Upon recalibration, if there is an error it is reported and the system stops.

Encoder read-back option level 2
High resolution encoders fitted to each axis act not only as watchdogs but may also be used to read back the position of the robot when de-energized. The robot can be positioned by hand and its position updated on pressing a key on the keypad. The kinematics software then computes the exact X-Y-Z position of the robot with the hand pitch and roll in degrees.

Grippers
As standard the robot terminates in a mounting flange (see diagrams below). End effectors currently include: miniature pneumatic gripper, electric gripper, vacuum pickups.

Note: pneumatic gripper is shown with special fingers made for a particular application, not part of the option.
Fingers to suit the clients product may be made by the client or ST.

Videos

(click the thumbnail to view)

Searching for edges
non-youtube flash

Range of motions

Moving glass tubes
non-youtube mp4

chess pick and place

Virtual Demonstration of R17 (R12 has same controls)

Workspace

Arm comprises 2 limbs 250mm each plus 360 degrees base rotation.
Therefore the workspace is a sphere 1000mm (40ins) in diameter (not including the hand).

Base fixings to bench	Wrist flange (not to scale)

Warranty, Maintenance and Support

MTBF: (designed) 10,000 hours under normal use.
Warranty: 2 years or 10,000 hours whichever comes first.
24 hour technical support by phone or email (English only)
The mechanics are simple and intuitive, easy to service or repair by any competent technician. A service file with exploded diagrams is available with a step by step setting up procedure.

	Specifications
	Drives:	High power micro-stepped hybrid stepping motors, optional encoder watchdogs
	Reach:	500mm/20ins in any direction; 360 degree waist rotation
	Repeatability (no payload):	+/-0.1mm
	Payload:	nominal 500g, max 1Kg (2.2lbs) at flange (repeatability and speed degrade with increasing payload and reach).
	Compliance: droop at 250mm at nominal payload: droop at max reach with max payload:	0.4mm 2.3mm
	Maximum speed:	Shoulder 180 deg/sec, Elbow 270deg/sec, Waist 180 deg/sec.
	Standard cycle time:	2 secs.
	Max torque for hand pitch or roll:	2 Nm (repeatability figures degrade).
	Weight	Robot 12.8Kg/29lbs Controller 11kg/25lbs
	Power:	110/240v ac 420VA (standard controller)
	Temperature range:	0 - 28C (wider range optional)
	MTBF:	10,000 hours