The FlexArm 6X is an advanced 6-DOF robotic arm designed for research, development, and precision manipulation tasks. Featuring integrated force/torque sensing, comprehensive vision systems, and an open control architecture, it provides a versatile platform for robotics research and industrial applications.

• Physical Specifications
  • Total Weight: 18 kg
  • Reach: 500 mm
  • Base Diameter: 250 mm
  • Mounting: Standard flange pattern
  
  
• Materials:
  • Structure: Aircraft-grade aluminum alloy
  • Joints: High-strength steel alloy
  • Bearings: Precision ceramic hybrid
  
  
• Joint Configuration:
  • J1 (Base): ±170°
  • J2 (Shoulder): ±160°
  • J3 (Elbow): ±160°
  • J4 (Wrist 1): ±160°
  • J5 (Wrist 2): ±135°
  • J6 (Wrist 3): ±135°

• Payload
  • Nominal: 3 kg
  • Maximum: 4 kg (reduced speed)
  
  
• Speed:
  • Joint Speed: Up to 180°/s
  • TCP Speed: Up to 2 m/s
  
  
• Accuracy:
  • Position: ±4 mm
  
  
• Force/Torque Control:
  • Resolution: 0.2 N / 0.2 Nm XX
  • Range: ±30 N / ±12 Nm

• Hardware:
  • Real-time Controller:
    • NVIDIA Jetson Orin Nano
    • 16GB RAM
    • 512GB SSD
  • FPGA-based motion controller
• Control Modes:
  • Position Control
    • Joint space control
    • Cartesian space control
    • Trajectory following
  • Force Control (N/A now)
    • Direct force control
    • Impedance control
    • Hybrid position/force control
  • Torque Control
    • Joint torque control
    • Gravity compensation
    • Compliant control
    
    
• Sampling Rates:
  • Position Loop: 100 Hz
  • Force Control Loop: 100 Hz

• Operating System:
  • Real-time Linux kernel
  • ROS 2 middleware support
• Programming Interfaces:
  • C++ API
  • Python API
  • ROS 2 packages
  • MATLAB/Simulink interface
  • UNITY
• Built-in Libraries:
  • Forward/Inverse Kinematics
  • Dynamic Model
  • Trajectory Planning
  • Vision Processing
  • Force Control
• Development Tools:
  • Graphical programming interface
  • Simulation environment
  • Debug tools
  • Performance analysis

• Trajectory Generation:
  • Joint space planning
  • Cartesian path planning
  • Dynamic path optimization
  • Obstacle avoidance
• Path Types:
  • Linear motion
  • Circular motion
  • Spline interpolation
  • Custom path definition
• Motion Parameters:
  • Configurable acceleration
  • Speed optimization
  • Smooth transition planning
  • Dynamic replanning

• Vision System:
  • Gripper Camera:
    • 1080p resolution
    • Field of View 83°
• Additional Sensors:
  • Joint position encoders
  • Motor current sensors
  • Collision detection

• Mechanical Interface:
  • Quick-change mechanism
  • Integrated services (power, data)
• Electrical Interface:
  • 24V DC power
  • Digital I/O
  • Analog signals

• Features:
  • Real-time control interface
  • Custom block library
  • Data logging and visualization
  • Simulation environment
• Capabilities:
  • Control algorithm development
  • System identification
  • Performance optimization
  • Hardware-in-the-loop testing

• Hardware Safety:
  • Emergency stop circuit
  • Brake system on all joints
  • Power monitoring
• Software Safety:
  • Motion supervision
  • Force monitoring
  • Workspace monitoring
  • Collision detection
• Operational Safety:
  • Teaching mode
  • Reduced speed mode
  • Virtual barriers
  • User authentication

• Input Power:
  • Voltage: 100-240V AC
  • Frequency: 50/60 Hz
  • Maximum Power: 80W
• Power Management:
  • Energy monitoring
  • Standby mode
  • Recovery system

• Operating Environment:
  • Temperature: 5°C to 40°C
  • Humidity: 20% to 80%
• Storage Environment:
  • Temperature: -10°C to 60°C

• Wireless:
  • Wi-Fi 6E
  • Optional long-range radio
• Protocols:
  • Delayed telemetry handling
  • Loss-tolerant command system

• Research:
  • Robotics research
  • Control system development
  • AI/ML implementation
• Industrial:
  • Precision assembly
  • Quality inspection
  • Material handling
• Education:
  • Advanced robotics training
  • Control theory education
  • System integration learning

• Documentation:
  • echnical manual
  • API documentation
  • Example programs
  • Tutorials
• Support:
  • Online knowledge base
  • Technical support
  • Software updates
  • Training programs