5. ROBOT HARDWARE COMPOSITION
Figure 5.1 AUBO-i5 robot
As shown in figure 5.1, The AUBO-i5 robot system consist of a manipulator, a control box(which can choose
a variety of models), a manipulator base and a teach pendant. The manipulator imitates human which has six
joints and each joint represents a degree of freedom. As shown in figure5.2, manipulator’s joint includes a
robot base (A), a shoulder (B), an elbow (C), a wrist1(D) ,a wrist2(E) and a wrist3(F). The manipulator base
is used for the robot body and the base connection. End-effector is used to connect manipulator and tool.
Aluminium pipe is used to connect shoulder and elbow or elbow and wrist. Through the AUBOPE user
interface or hand-guiding, users can control the rotation of every joint and move end-effector to any poses.
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