Kinova Link 6 - Link 6 Overview

EN UG-020 Link 6 user guide r1.0 5
Link6 overview
The Link6 is an arm with six degrees of freedom (DoF), a powerful controller, and a Kinova teach
pendant. It works under the Kortex software framework and KortexWebApp. KortexWebApp
works on the teach pendant and from a web browser on a remote computer.
Each axis is a joint and the part of the arm between each joint is a link. The robot parts from base
to wrist are referred to as the arm. The arm has six parts. The remaining parts of the robot are the
controller and the teach pendant.
1 Teach pendant
2 Wrist
3 Forearm
4 Elbow
5 Arm
6 Shoulder
7 Base
Figure 1: Link6
8 Controller
The robot can be manipulated by one hand. The wrist has a set of buttons on it that are used for
toggling between Cartesian and Joint Hand Guiding, waypoint capturing, moving the arm, and end
effector actions. With these buttons on the wrist, it is easy to teach the robot the movements it
needs to learn.
Thanks to the modular design of the robot, a variety of optional interfaces are available to
connect end effectors. Each of these optional interfaces has no visible cables. Also, Kinova
offers a variety of optional parts.
• Kinova wall mount kit attaches the controller to walls.
• Graphics card kit is required, in some cases, for cameras and the vision module.
• Robotiq Adapter attaches directly to the wrist and is compatible with multiple tools by Robotiq.
• Gigabit Ethernet Adapter flange attaches directly to the wrist and is compatible with third-party
Vision adapters.
• The flange attaches to the OnRobot ISO adapter, as well as the OnRobot RG2 Gripper.
• Emergency stop attaches to the controller.
• One or more enabling devices attach to the controller.
The end of the arm has a force torque sensor built into it. With the force torque sensor, hand
guiding Link6 is smooth.
At the end of the arm is an end effector. The end effector may be a gripper, polishing disk, nail
gun, screwdriver, tool changer, and so on. It is the only part of the robot that is in direct contact
with the piece being manipulated.
The controller can be considered the brain of the robot. It is stored on an accessible location on
the floor, table, wall, or in a cabinet; store it wherever it makes it easy to power on or off the robot.
Some installations of the controller require the optional Kinova wall mount kit.
Related topics
Components on page 15
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