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| Specification |  Franka Robotics Franka Research 3Collaborative Robots 科研协作臂，联系 Franka Robotics 询价 |
|---|---|
| Basic Information | |
| Positioning / Application | 机器人与AI研究、力控、模仿学习、遥操作及高级运动控制的7轴力敏协作机械臂 |
| Release Date | — |
| Country | Germany |
| Model Alias | — |
| Made In | — |
| Overall Specifications | |
| Weight (kg) | 18.3 |
| Height (mm) | — |
| Material | — |
| Noise Level (dB) | — |
| Width (mm) | — |
| Folded Dimensions (mm) | — |
| Locomotion Type | — |
| Color | — |
| Motion Performance | |
| Max Speed (m/s) | 2 |
| Payload (kg) | 3 |
| Peak Joint Torque (N·m) | — |
| Max Gradient (°) | — |
| Max Step Height (cm) | — |
| Jumping Capability (m) | — |
| Degrees of Freedom | |
| Total DOF (DOF) | 7 |
| Waist DOF (DOF) | — |
| Mechanical Structure | |
| Joint Type | 7 轴力敏协作机械臂；7 个关节均配链路侧扭矩传感器 |
| Joint Encoder | — |
| Joint Range of Motion | A1/A3 ±166°；A2 ±105°；A4 -176°至-7°；A5 ±165°；A6 25°至265°；A7 ±175° |
| Sensors | |
| Sensors | Torque sensors in all 7 joints; Joint position encoders (dual channel); External force-torque sensing via joint torques |
| Camera | — |
| LiDAR | — |
| 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 | External PC via FCI (1 kHz real-time) |
| AI Compute Module | — |
| Compute (TOPS) (TOPS) | — |
| Operating System | Franka OS (Linux-based, PREEMPT-RT) |
| CPU Cores (核) | — |
| Safety & Environment | |
| Ingress Protection (IP) | IP40 |
| Operating Temperature (°C) | 5–45 |
| Pinch Protection | — |
| Interaction & Communication | |
| Communication | Ethernet（TCP/IP）；FCI 外部实时控制与状态数据 1 kHz；可选 Modbus/TCP、OPC UA |
| Microphone | — |
| Speaker | — |
| Lighting | — |
| Voice Interaction | — |
| OTA Update | 通过免费的 System Image 更新持续增加功能 |
| Development & Expansion | |
| Secondary Development (SDK) | 开源 libfranka C++、franka_ros / ROS 2 Control、URDF/网格、MoveIt、Gazebo；支持 MATLAB 与 Simulink |
| Expansion Backplane | — |
| App Platform | — |
| Commercial Information | |
| Warranty (年) | — |