| 
             型號(hào)Model 
             | 
            MOTOMAN-IA20 | |
| 
             最大動(dòng)作范圍 Maximum Range of  | 
            S-Axis (Turning/Sweep) | ±180° | 
| ?-Axis | ±180° | |
| L-Axis (Lower Arm) | ±125° | |
| U-Axis (Upper Arm) | ±125° | |
| R-Axis (Upper Arm Twist) | ±180° | |
| B-Axis (Wrist Pitch/Yaw) | ±120° | |
| T-Axis (Wrist Twist) | ±180° | |
| 
             最大速度 Maximum  | 
            ?-Axis | 170°/s | 
| S-Axis | 130°/s | |
| L-Axis | 130°/s | |
| U-Axis | 170°/s | |
| R-Axis | 300°/s | |
| B-Axis | 300°/s | |
| T-Axis | 580°/s | |
| 
             允許力矩 Allowable Moment  | 
            R-axis | 58.8 N · m | 
| B-Axis | 58.8 N · m | |
| T-Axis | 29.4N · m | |
| 允許慣性力矩(GD2/4)Allowable Moment of Inertia | R-axis | 4 kg·㎡ | 
| B-Axis | 4kg·㎡ | |
| T-Axis | 2 kg·㎡ | |
| 本 體 重 量Approximate Mass | 120 kg (264.6 lbs) | |
| 定位精度Repeatability | ±0.1 mm | |
| 載 荷 重 量Payload | 20 kg (44.1 lbs) | |

                    




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