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| Specification |  Karlsruhe Institute of Technology ARMAR-6Wheeled Humanoid KIT / SecondHands 定制科研示范平台，未公开商业售价 |
|---|---|
| Basic Information | |
| Positioning / Application | 工业维护、双臂移动操作与人机协作科研示范平台 |
| Release Date | 2017 |
| Country | 德国 |
| Model Alias | ARMAR-6（ARMAR 家族第六代） |
| Made In | 德国 |
| Overall Specifications | |
| Weight (kg) | 160 |
| Height (mm) | 1920 |
| Material | — |
| Noise Level (dB) | — |
| Width (mm) | 600 |
| Folded Dimensions (mm) | — |
| Locomotion Type | wheeled |
| Color | — |
| Motion Performance | |
| Max Speed (m/s) | 1 |
| Payload (kg) | 10 |
| Peak Joint Torque (N·m) | — |
| Max Gradient (°) | — |
| Max Step Height (cm) | — |
| Jumping Capability (m) | — |
| Degrees of Freedom | |
| Total DOF (DOF) | 28 |
| Waist DOF (DOF) | — |
| Mechanical Structure | |
| Joint Type | 双 8-DOF 力矩控制机械臂、欠驱动五指手、400 mm 行程伸缩躯干与四轮全向底盘 |
| Joint Encoder | — |
| Joint Range of Motion | — |
| Sensors | |
| Sensors | Roboception rc_visard 160 立体传感器、PrimeSense Carmine 1.09 RGB-D、双 Point Grey Flea3 相机、腕部六轴力/力矩、关节绝对/增量位置及扭矩传感器、9 轴 IMU、底盘双激光扫描仪 |
| Camera | rc_visard 160、PrimeSense Carmine 1.09 RGB-D 与 2× Point Grey Flea3 |
| LiDAR | 移动底盘双激光扫描仪 |
| IMU | 机械臂关节模块 9 轴 IMU |
| Obstacle Avoidance | — |
| Battery & Endurance | |
| Battery Capacity (Wh) | — |
| Runtime (h) | — |
| Charging Time (h) | — |
| Battery Voltage (V) | — |
| Power Supply (V) | — |
| Hot-swappable | — |
| Charging Power (W) | — |
| Charging Method | — |
| Compute Platform | |
| Onboard Compute | 底盘内 4 台高性能 PC：Intel Core i7-6700、32 GB RAM、500 GB SSD；GeForce GTX 1080 8 GB |
| AI Compute Module | — |
| Compute (TOPS) (TOPS) | — |
| Operating System | ArmarX 软件架构 |
| CPU Cores (核) | — |
| Safety & Environment | |
| Ingress Protection (IP) | — |
| Operating Temperature (°C) | — |
| Pinch Protection | — |
| Interaction & Communication | |
| Communication | — |
| Microphone | — |
| Speaker | — |
| Lighting | — |
| Voice Interaction | — |
| OTA Update | — |
| Development & Expansion | |
| Secondary Development (SDK) | — |
| Expansion Backplane | — |
| App Platform | — |
| Commercial Information | |
| Warranty (年) | — |