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| Components | Important Features | |
|---|---|---|
| Passive arm | DOFs | 6 |
| Joint type | Revolute (R1–R4), Ball (R5 & R6) | |
| Linkage length | 35 cm (Upper and lower) | |
| Weight | 0.31kg | |
| Active end-effector | DOFs | 2 |
| Joint type | Prismatic, Revolute | |
| Dimensions | 150(L)
 (W)
 (D) mm |
|
| Weight | 0.23kg | |
| Expected payload | 0–2.50N | |
| Max. payload | 3.00N | |
| Power | 9V-3A | |
| Force-sensing gripper | DOF | 1 |
| Dimensions | 38(L)
 (W)
 (D) mm |
|
| Designed range | 0–2.50N | |
| Material | Polypropylene | |
| Calibration error | 0.27N (RMSE) | |
