OUTLINE DRAWING PERFORMANCE ENVELOPE

Inches/[mm]
Ø.53

Force Feedback Manipulator

[Ø13mm]

61.67
7.00 SQ [1566mm]
34.54 [178mm]
[877mm]
5.50 SQ
[140mm]

MANIPULATOR
MOUNTING ELEVATION
16.00 16.00 FOOTPRINT
[406mm] [406mm]

17.02
[432mm]

50.75
58.29 GRID SCALE:
1 BLOCK = 4" [1289mm]
R9.00 [1481mm]
5.46
[R229mm] 4.00
[139mm]
[102mm]

101.50
PLAN VIEW
[2578mm]
10.28
20.54
[261mm]
[522mm]

Features
5.25
13.90
[353mm]
[133mm] 15.30 • Rugged field proven design
[389mm]
• Low extended weight
50.75 50.75 • Base up or base down mounting
[1289mm] [1289mm]
• Zero leakage rack & pinion actuators
Grips Arm Specifications KMC 770 Control System Specifications
• Intuitive master/slave control with high fidelity force feedback
Manipulator Type Hydraulically powered 7-function Mode of Operation Position control with force feedback
Construction Anodized aluminum & stainless steel Operator Control Unit (OCU) Portable console with color display, • Integral control valves – No separate valve package
Horizontal Reach 50.75" (1289 mm) multi-function keys, and mini-master®
Vertical Reach 61.67" (1566 mm) Dimensions (LxWxH) 15.75"x 8"x3.75" (400x203x95 mm) and hose bundle
Stowed Height 34.54" (877 mm) Weight 11.5 lbs (5.2 kg)
Maximum Lift Capacity 180 lbs (82 kg) Power Requirements Powered by OCU power chassis
Lift Capacity at Full Extension 100 lbs (45 kg) Ambient Temperature Operating 0°C to +55°C
Wrist Rotate Torque 180 in-lbs (20 Nm) Storage -25°C to +70°C Kraft TeleRobotics INC.
Grip Closure Force (controllable) 0-200 lbf (890 N) Humidity 95%RH max (non condensing)
Degrees Freedom-Of-Motion 6 plus gripper OCU Power Chassis Aluminum enclosure with On/Off switch
Shoulder Azimuth 180 degrees and LED power indicator
Maximum Shoulder Elevation 120 degrees Dimensions (LxWxH) 15.87"x12.25"x5.62" (403x311x143 mm) 11667 West 90th Street
Elbow Pivot 110 degrees Weight 35 lbs (16 kg)
Range Wrist Pitch 100 degrees Power Requirements Auto select 110/220VAC 50/60Hz Overland Park, KS 66214 U.S.A.
Wrist Yaw 105 degrees 375W max, 180W typical Telephone 913-894-9022 • FAX 913-894-1363
Of Wrist Rotate (slaved mode) 340 degrees Optional 24VDC 265W max, 130W typical
Wrist Rotate (continuous) 0-40 rpm Ambient Temperature Operating -20°C to +55°C Email info@KraftTeleRobotics.com
Motion Jaw Opening (parallel acting) 4" (100 mm) Storage -40°C to +85°C
Jaw Opening (intermeshing) 8.75" (220 mm) Humidity 95%RH max (non condensing)
www.KraftTeleRobotics.com
Weight In Air 130 lbs (59 kg) KMC 770 Servo Driver Module, provides all necessary power,
Weight In Seawater 90 lbs (41 kg) command and telemetry for the arm
Operating Depth, Standard 10,000 fsw (3000 msw) Dimensions (LxWxH) 5"x4.25"x2.46" (127x108x62 mm)
Operating Depth, Extended 21,000 fsw (6500 msw) Weight 1.4 lbs (0.64 kg)
Hydraulic Power Requirements: Power Requirements 6-40VDC 30 Watts © Copyright 2005, Kraft TeleRobotics Inc.
Operating Pressure 1500-3000 psi (104-207 bar) Ambient Temperature Operating -20°C to +70°C
Flow Rate 3 gpm (11 lpm) Storage -20°C to +85°C All information and specifications contained in this literature are based upon the latest product
Filtration 25 micron absolute Humidity 95%RH max (non condensing) information available at the time of publication. The right is reserved to make changes at any time
without notice in prices, materials, equipment and specifications.
Publication No. G505-1
Printed in U.S.A.
Kraft TeleRobotics
Hydraulic Fluid Type Petroleum / Mineral based oils Telemetry
Shell Tellus® 32 (or equivalent) Standard RS-232, RS-422/485, Ethernet
MIL-H-5606 NATO Code H-515 Optional Fiber Optic, (single mode / multimode)
Fire resistant Quaker Quintolubric® 822 RF (digital spread spectrum)
Performance in Motion Performance in Motion
TM TM
 Come To Grips with remote task performance Innovation In Control Technology
KMC 770 Advanced Operating System
The KMC 770 control system offers many standard
Grips is a 7-function, hydraulic manipulator for use on both Grips is a mature product with a long history of field service in features which enhance system performance and
manned and remotely operated vehicles. Design features the most demanding of applications. Since its introduction in ease of operation. These features include:
which make Grips a good choice for many applications include 1982 hundreds of Grips manipulator systems have been ■ One button indexing – the ability to offset
a four bar linkage design, which allows most of the arm's installed worldwide to complete tasks in the deep ocean, and in master position relative to the manipulator for
operator comfort.
weight to be located around its base, and the use of zero nuclear, aerospace, electric utility, and military applications.
leakage rack & pinion actuators which allow Grips to be Todays Grips system incorporates the latest in Kraft control ■ Power alignment – allows the operator to
configured for either base up or base down mounting. system technology. realign the master with the manipulator after
indexing. When initiated, the master controller
will move into alignment with the manipulator
Intuitive master/slave control allows even an inexperienced Undersea or on dry land, when ease of operation, and under its own power.
operator to perform work tasks with human like motion responsiveness to operator command are important, Grips is Grips can be operated base up, as shown, or mounted in a ■ Joint lock – used to selectively lock one or more
and speed. Force feedback dramatically improves operator the performance leader. base down configuration. The highly intuitive nature of the axes of the manipulator so that motion at the
awareness and allows the operator to perform tasks more Grips system allows the operator to easily control two master has no effect on the locked axis.
manipulator arms at the same time. Force feedback makes it
quickly and perform tasks of much greater complexity. In ■ Joint scaling – the ability to alter the ratio
possible for two manipulator arms to simultaneously handle
addition to improved telepresence, the compliant nature of a and manipulate a shared object, as if you were handling the of master arm movement to manipulator arm
force feedback system greatly reduces the risk of damage to object with your own two arms. movement. Scaling can be established for each
both the work site and the manipulator arm. joint individually.
Kraft's unique method of controlling the gripper allows
the operator to proportionally vary the rate of jaw closure, ■ Joint limits – the ability to establish individual
and the amount of grip force.
REMOTE MANIPULATOR ARM OPERATOR CONTROLS As the vital link between the remote manipulator and the human operator, the joint motion limits to prevent arm impact with
Grips requires only one electrical KRAFT MINI-MASTER
Kraft force feedback mini-master® allows the operator to control complex peripheral equipment.
connection and a pressure & return ARM ELECTRONICS
manipulator motions in a comfortable and intuitive manner. Electric actuators on the ■ Proportional control of grip force – greatly
individual joints of the master respond to the forces acting upon the manipulator arm, enhances manipulator performance and is far
hydraulic connection. All valves 6-40VDC CONSOLE
Kraft
providing force feedback to the operator. Conveniently located switches on the superior to conventional rate or position control.
are packaged as an integral
TeleRobotics
Overland Park Kansas USA
KMC 770 - SERVO DRIVER
P/N 600-0276-00

CHOICE
master provide the operator with direct access to core manipulator functions for ■ Auto stow/deploy – allows the operator to
part of the manipulator arm, OF
TELEMETRY
OPTIONS faster arm operation. The mini-master ® is designed for comfortable left-hand or automatically stow or deploy the manipulator
eliminating the cumbersome
110/220VAC
right-hand operation. using a previously programmed routine.
hydraulic lines that would be 50/60Hz

In its standard configuration the mini-master® is mounted to a compact, portable, ■ Robotic operation – provides the ability to
necessary with a remote valve teach the manipulator a routine or sequence and
package. A square, four-bolt flange OCU
operator control unit that can be placed on nearly any surface for operation. A color permanently save it for execution at a later time.
Grips is capable of completing a POWER CHASSIS
liquid crystal display allows the operator to view system information and menus.
wide variety of complex tasks in makes mounting the arm simple. ■ System diagnostics – provides comprehensive
HYDRAULIC POWER UNIT Pushbutton keys surrounding the display allow the operator to select various
unstructured environments. (CUSTOMER FURNISHED)
tools for evaluating and troubleshooting
operating options. the system.

A Grips manipulator arm Grips manipulator arms are used in

Meeting The Challenge assisting in the assembly of numerous programs involving the application
Grips force feedback manipulator arms are used to an aerobrake device in the of manipulator technology for power line
McDonnell Douglas Space maintenance. This telerobotic “bucket truck”
perform a wide variety of tasks in undersea and terrestrial
Systems neutral buoyancy manufactured by Aichi Corporation in Japan,
environments. In applications where superb arm dynamics tank. By simulating the allows an operator to perform installation,
and controllability are paramount Grips delivers. When work weightless conditions found repair, and maintenance tasks on energized
in space, engineers are able power lines using the two insulated force
must be completed in a timely manner, and with little risk
to evaluate assembly feedback Grips arms. A single operator can
of damage to the work site, the advantage of having force techniques where astronauts and robotic arms would work together. control both manipulators, as well as all An experimental NASA HazMat vehicle equipped with a Grips manipulator
feedback is significant. Aerobraking is considered to be critical technology for cargo-carrying boom functions, while comfortably seated in arm to assist emergency personnel while responding to a chemical,
and human spacecraft bound for the planet Mars. the weather proof cabin. biological or radiological threat.
 Come To Grips with remote task performance Innovation In Control Technology
KMC 770 Advanced Operating System
The KMC 770 control system offers many standard
Grips is a 7-function, hydraulic manipulator for use on both Grips is a mature product with a long history of field service in features which enhance system performance and
manned and remotely operated vehicles. Design features the most demanding of applications. Since its introduction in ease of operation. These features include:
which make Grips a good choice for many applications include 1982 hundreds of Grips manipulator systems have been ■ One button indexing – the ability to offset
a four bar linkage design, which allows most of the arm's installed worldwide to complete tasks in the deep ocean, and in master position relative to the manipulator for
operator comfort.
weight to be located around its base, and the use of zero nuclear, aerospace, electric utility, and military applications.
leakage rack & pinion actuators which allow Grips to be Todays Grips system incorporates the latest in Kraft control ■ Power alignment – allows the operator to
configured for either base up or base down mounting. system technology. realign the master with the manipulator after
indexing. When initiated, the master controller
will move into alignment with the manipulator
Intuitive master/slave control allows even an inexperienced Undersea or on dry land, when ease of operation, and under its own power.
operator to perform work tasks with human like motion responsiveness to operator command are important, Grips is Grips can be operated base up, as shown, or mounted in a ■ Joint lock – used to selectively lock one or more
and speed. Force feedback dramatically improves operator the performance leader. base down configuration. The highly intuitive nature of the axes of the manipulator so that motion at the
awareness and allows the operator to perform tasks more Grips system allows the operator to easily control two master has no effect on the locked axis.
manipulator arms at the same time. Force feedback makes it
quickly and perform tasks of much greater complexity. In ■ Joint scaling – the ability to alter the ratio
possible for two manipulator arms to simultaneously handle
addition to improved telepresence, the compliant nature of a and manipulate a shared object, as if you were handling the of master arm movement to manipulator arm
force feedback system greatly reduces the risk of damage to object with your own two arms. movement. Scaling can be established for each
both the work site and the manipulator arm. joint individually.
Kraft's unique method of controlling the gripper allows
the operator to proportionally vary the rate of jaw closure, ■ Joint limits – the ability to establish individual
and the amount of grip force.
REMOTE MANIPULATOR ARM OPERATOR CONTROLS As the vital link between the remote manipulator and the human operator, the joint motion limits to prevent arm impact with
Grips requires only one electrical KRAFT MINI-MASTER
Kraft force feedback mini-master® allows the operator to control complex peripheral equipment.
connection and a pressure & return ARM ELECTRONICS
manipulator motions in a comfortable and intuitive manner. Electric actuators on the ■ Proportional control of grip force – greatly
individual joints of the master respond to the forces acting upon the manipulator arm, enhances manipulator performance and is far
hydraulic connection. All valves 6-40VDC CONSOLE
Kraft
providing force feedback to the operator. Conveniently located switches on the superior to conventional rate or position control.
are packaged as an integral
TeleRobotics
Overland Park Kansas USA
KMC 770 - SERVO DRIVER
P/N 600-0276-00

CHOICE
master provide the operator with direct access to core manipulator functions for ■ Auto stow/deploy – allows the operator to
part of the manipulator arm, OF
TELEMETRY
OPTIONS faster arm operation. The mini-master ® is designed for comfortable left-hand or automatically stow or deploy the manipulator
eliminating the cumbersome
110/220VAC
right-hand operation. using a previously programmed routine.
hydraulic lines that would be 50/60Hz

In its standard configuration the mini-master® is mounted to a compact, portable, ■ Robotic operation – provides the ability to
necessary with a remote valve teach the manipulator a routine or sequence and
package. A square, four-bolt flange OCU
operator control unit that can be placed on nearly any surface for operation. A color permanently save it for execution at a later time.
Grips is capable of completing a POWER CHASSIS
liquid crystal display allows the operator to view system information and menus.
wide variety of complex tasks in makes mounting the arm simple. ■ System diagnostics – provides comprehensive
HYDRAULIC POWER UNIT Pushbutton keys surrounding the display allow the operator to select various
unstructured environments. (CUSTOMER FURNISHED)
tools for evaluating and troubleshooting
operating options. the system.

A Grips manipulator arm Grips manipulator arms are used in

Meeting The Challenge assisting in the assembly of numerous programs involving the application
Grips force feedback manipulator arms are used to an aerobrake device in the of manipulator technology for power line
McDonnell Douglas Space maintenance. This telerobotic “bucket truck”
perform a wide variety of tasks in undersea and terrestrial
Systems neutral buoyancy manufactured by Aichi Corporation in Japan,
environments. In applications where superb arm dynamics tank. By simulating the allows an operator to perform installation,
and controllability are paramount Grips delivers. When work weightless conditions found repair, and maintenance tasks on energized
in space, engineers are able power lines using the two insulated force
must be completed in a timely manner, and with little risk
to evaluate assembly feedback Grips arms. A single operator can
of damage to the work site, the advantage of having force techniques where astronauts and robotic arms would work together. control both manipulators, as well as all An experimental NASA HazMat vehicle equipped with a Grips manipulator
feedback is significant. Aerobraking is considered to be critical technology for cargo-carrying boom functions, while comfortably seated in arm to assist emergency personnel while responding to a chemical,
and human spacecraft bound for the planet Mars. the weather proof cabin. biological or radiological threat.
 Come To Grips with remote task performance Innovation In Control Technology
KMC 770 Advanced Operating System
The KMC 770 control system offers many standard
Grips is a 7-function, hydraulic manipulator for use on both Grips is a mature product with a long history of field service in features which enhance system performance and
manned and remotely operated vehicles. Design features the most demanding of applications. Since its introduction in ease of operation. These features include:
which make Grips a good choice for many applications include 1982 hundreds of Grips manipulator systems have been ■ One button indexing – the ability to offset
a four bar linkage design, which allows most of the arm's installed worldwide to complete tasks in the deep ocean, and in master position relative to the manipulator for
operator comfort.
weight to be located around its base, and the use of zero nuclear, aerospace, electric utility, and military applications.
leakage rack & pinion actuators which allow Grips to be Todays Grips system incorporates the latest in Kraft control ■ Power alignment – allows the operator to
configured for either base up or base down mounting. system technology. realign the master with the manipulator after
indexing. When initiated, the master controller
will move into alignment with the manipulator
Intuitive master/slave control allows even an inexperienced Undersea or on dry land, when ease of operation, and under its own power.
operator to perform work tasks with human like motion responsiveness to operator command are important, Grips is Grips can be operated base up, as shown, or mounted in a ■ Joint lock – used to selectively lock one or more
and speed. Force feedback dramatically improves operator the performance leader. base down configuration. The highly intuitive nature of the axes of the manipulator so that motion at the
awareness and allows the operator to perform tasks more Grips system allows the operator to easily control two master has no effect on the locked axis.
manipulator arms at the same time. Force feedback makes it
quickly and perform tasks of much greater complexity. In ■ Joint scaling – the ability to alter the ratio
possible for two manipulator arms to simultaneously handle
addition to improved telepresence, the compliant nature of a and manipulate a shared object, as if you were handling the of master arm movement to manipulator arm
force feedback system greatly reduces the risk of damage to object with your own two arms. movement. Scaling can be established for each
both the work site and the manipulator arm. joint individually.
Kraft's unique method of controlling the gripper allows
the operator to proportionally vary the rate of jaw closure, ■ Joint limits – the ability to establish individual
and the amount of grip force.
REMOTE MANIPULATOR ARM OPERATOR CONTROLS As the vital link between the remote manipulator and the human operator, the joint motion limits to prevent arm impact with
Grips requires only one electrical KRAFT MINI-MASTER
Kraft force feedback mini-master® allows the operator to control complex peripheral equipment.
connection and a pressure & return ARM ELECTRONICS
manipulator motions in a comfortable and intuitive manner. Electric actuators on the ■ Proportional control of grip force – greatly
individual joints of the master respond to the forces acting upon the manipulator arm, enhances manipulator performance and is far
hydraulic connection. All valves 6-40VDC CONSOLE
Kraft
providing force feedback to the operator. Conveniently located switches on the superior to conventional rate or position control.
are packaged as an integral
TeleRobotics
Overland Park Kansas USA
KMC 770 - SERVO DRIVER
P/N 600-0276-00

CHOICE
master provide the operator with direct access to core manipulator functions for ■ Auto stow/deploy – allows the operator to
part of the manipulator arm, OF
TELEMETRY
OPTIONS faster arm operation. The mini-master ® is designed for comfortable left-hand or automatically stow or deploy the manipulator
eliminating the cumbersome
110/220VAC
right-hand operation. using a previously programmed routine.
hydraulic lines that would be 50/60Hz

In its standard configuration the mini-master® is mounted to a compact, portable, ■ Robotic operation – provides the ability to
necessary with a remote valve teach the manipulator a routine or sequence and
package. A square, four-bolt flange OCU
operator control unit that can be placed on nearly any surface for operation. A color permanently save it for execution at a later time.
Grips is capable of completing a POWER CHASSIS
liquid crystal display allows the operator to view system information and menus.
wide variety of complex tasks in makes mounting the arm simple. ■ System diagnostics – provides comprehensive
HYDRAULIC POWER UNIT Pushbutton keys surrounding the display allow the operator to select various
unstructured environments. (CUSTOMER FURNISHED)
tools for evaluating and troubleshooting
operating options. the system.

A Grips manipulator arm Grips manipulator arms are used in

Meeting The Challenge assisting in the assembly of numerous programs involving the application
Grips force feedback manipulator arms are used to an aerobrake device in the of manipulator technology for power line
McDonnell Douglas Space maintenance. This telerobotic “bucket truck”
perform a wide variety of tasks in undersea and terrestrial
Systems neutral buoyancy manufactured by Aichi Corporation in Japan,
environments. In applications where superb arm dynamics tank. By simulating the allows an operator to perform installation,
and controllability are paramount Grips delivers. When work weightless conditions found repair, and maintenance tasks on energized
in space, engineers are able power lines using the two insulated force
must be completed in a timely manner, and with little risk
to evaluate assembly feedback Grips arms. A single operator can
of damage to the work site, the advantage of having force techniques where astronauts and robotic arms would work together. control both manipulators, as well as all An experimental NASA HazMat vehicle equipped with a Grips manipulator
feedback is significant. Aerobraking is considered to be critical technology for cargo-carrying boom functions, while comfortably seated in arm to assist emergency personnel while responding to a chemical,
and human spacecraft bound for the planet Mars. the weather proof cabin. biological or radiological threat.
 OUTLINE DRAWING PERFORMANCE ENVELOPE
Inches/[mm]
Ø.53

Force Feedback Manipulator

[Ø13mm]

61.67
7.00 SQ [1566mm]
34.54 [178mm]
[877mm]
5.50 SQ
[140mm]

MANIPULATOR
MOUNTING ELEVATION
16.00 16.00 FOOTPRINT
[406mm] [406mm]

17.02
[432mm]

50.75
58.29 GRID SCALE:
1 BLOCK = 4" [1289mm]
R9.00 [1481mm]
5.46
[R229mm] 4.00
[139mm]
[102mm]

101.50
PLAN VIEW
[2578mm]
10.28
20.54
[261mm]
[522mm]

Features
5.25
13.90
[353mm]
[133mm] 15.30 • Rugged field proven design
[389mm]
• Low extended weight
50.75 50.75 • Base up or base down mounting
[1289mm] [1289mm]
• Zero leakage rack & pinion actuators
Grips Arm Specifications KMC 770 Control System Specifications
• Intuitive master/slave control with high fidelity force feedback
Manipulator Type Hydraulically powered 7-function Mode of Operation Position control with force feedback
Construction Anodized aluminum & stainless steel Operator Control Unit (OCU) Portable console with color display, • Integral control valves – No separate valve package
Horizontal Reach 50.75" (1289 mm) multi-function keys, and mini-master®
Vertical Reach 61.67" (1566 mm) Dimensions (LxWxH) 15.75"x 8"x3.75" (400x203x95 mm) and hose bundle
Stowed Height 34.54" (877 mm) Weight 11.5 lbs (5.2 kg)
Maximum Lift Capacity 180 lbs (82 kg) Power Requirements Powered by OCU power chassis
Lift Capacity at Full Extension 100 lbs (45 kg) Ambient Temperature Operating 0°C to +55°C
Wrist Rotate Torque 180 in-lbs (20 Nm) Storage -25°C to +70°C Kraft TeleRobotics INC.
Grip Closure Force (controllable) 0-200 lbf (890 N) Humidity 95%RH max (non condensing)
Degrees Freedom-Of-Motion 6 plus gripper OCU Power Chassis Aluminum enclosure with On/Off switch
Shoulder Azimuth 180 degrees and LED power indicator
Maximum Shoulder Elevation 120 degrees Dimensions (LxWxH) 15.87"x12.25"x5.62" (403x311x143 mm) 11667 West 90th Street
Elbow Pivot 110 degrees Weight 35 lbs (16 kg)
Range Wrist Pitch 100 degrees Power Requirements Auto select 110/220VAC 50/60Hz Overland Park, KS 66214 U.S.A.
Wrist Yaw 105 degrees 375W max, 180W typical Telephone 913-894-9022 • FAX 913-894-1363
Of Wrist Rotate (slaved mode) 340 degrees Optional 24VDC 265W max, 130W typical
Wrist Rotate (continuous) 0-40 rpm Ambient Temperature Operating -20°C to +55°C Email info@KraftTeleRobotics.com
Motion Jaw Opening (parallel acting) 4" (100 mm) Storage -40°C to +85°C
Jaw Opening (intermeshing) 8.75" (220 mm) Humidity 95%RH max (non condensing)
www.KraftTeleRobotics.com
Weight In Air 130 lbs (59 kg) KMC 770 Servo Driver Module, provides all necessary power,
Weight In Seawater 90 lbs (41 kg) command and telemetry for the arm
Operating Depth, Standard 10,000 fsw (3000 msw) Dimensions (LxWxH) 5"x4.25"x2.46" (127x108x62 mm)
Operating Depth, Extended 21,000 fsw (6500 msw) Weight 1.4 lbs (0.64 kg)
Hydraulic Power Requirements: Power Requirements 6-40VDC 30 Watts © Copyright 2005, Kraft TeleRobotics Inc.
Operating Pressure 1500-3000 psi (104-207 bar) Ambient Temperature Operating -20°C to +70°C
Flow Rate 3 gpm (11 lpm) Storage -20°C to +85°C All information and specifications contained in this literature are based upon the latest product
Filtration 25 micron absolute Humidity 95%RH max (non condensing) information available at the time of publication. The right is reserved to make changes at any time
without notice in prices, materials, equipment and specifications.
Publication No. G505-1
Printed in U.S.A.
Kraft TeleRobotics
Hydraulic Fluid Type Petroleum / Mineral based oils Telemetry
Shell Tellus® 32 (or equivalent) Standard RS-232, RS-422/485, Ethernet
MIL-H-5606 NATO Code H-515 Optional Fiber Optic, (single mode / multimode)
Fire resistant Quaker Quintolubric® 822 RF (digital spread spectrum)
Performance in Motion Performance in Motion
TM TM
 OUTLINE DRAWING PERFORMANCE ENVELOPE
Inches/[mm]
Ø.53

Force Feedback Manipulator

[Ø13mm]

61.67
7.00 SQ [1566mm]
34.54 [178mm]
[877mm]
5.50 SQ
[140mm]

MANIPULATOR
MOUNTING ELEVATION
16.00 16.00 FOOTPRINT
[406mm] [406mm]

17.02
[432mm]

50.75
58.29 GRID SCALE:
1 BLOCK = 4" [1289mm]
R9.00 [1481mm]
5.46
[R229mm] 4.00
[139mm]
[102mm]

101.50
PLAN VIEW
[2578mm]
10.28
20.54
[261mm]
[522mm]

Features
5.25
13.90
[353mm]
[133mm] 15.30 • Rugged field proven design
[389mm]
• Low extended weight
50.75 50.75 • Base up or base down mounting
[1289mm] [1289mm]
• Zero leakage rack & pinion actuators
Grips Arm Specifications KMC 770 Control System Specifications
• Intuitive master/slave control with high fidelity force feedback
Manipulator Type Hydraulically powered 7-function Mode of Operation Position control with force feedback
Construction Anodized aluminum & stainless steel Operator Control Unit (OCU) Portable console with color display, • Integral control valves – No separate valve package
Horizontal Reach 50.75" (1289 mm) multi-function keys, and mini-master®
Vertical Reach 61.67" (1566 mm) Dimensions (LxWxH) 15.75"x 8"x3.75" (400x203x95 mm) and hose bundle
Stowed Height 34.54" (877 mm) Weight 11.5 lbs (5.2 kg)
Maximum Lift Capacity 180 lbs (82 kg) Power Requirements Powered by OCU power chassis
Lift Capacity at Full Extension 100 lbs (45 kg) Ambient Temperature Operating 0°C to +55°C
Wrist Rotate Torque 180 in-lbs (20 Nm) Storage -25°C to +70°C Kraft TeleRobotics INC.
Grip Closure Force (controllable) 0-200 lbf (890 N) Humidity 95%RH max (non condensing)
Degrees Freedom-Of-Motion 6 plus gripper OCU Power Chassis Aluminum enclosure with On/Off switch
Shoulder Azimuth 180 degrees and LED power indicator
Maximum Shoulder Elevation 120 degrees Dimensions (LxWxH) 15.87"x12.25"x5.62" (403x311x143 mm) 11667 West 90th Street
Elbow Pivot 110 degrees Weight 35 lbs (16 kg)
Range Wrist Pitch 100 degrees Power Requirements Auto select 110/220VAC 50/60Hz Overland Park, KS 66214 U.S.A.
Wrist Yaw 105 degrees 375W max, 180W typical Telephone 913-894-9022 • FAX 913-894-1363
Of Wrist Rotate (slaved mode) 340 degrees Optional 24VDC 265W max, 130W typical
Wrist Rotate (continuous) 0-40 rpm Ambient Temperature Operating -20°C to +55°C Email info@KraftTeleRobotics.com
Motion Jaw Opening (parallel acting) 4" (100 mm) Storage -40°C to +85°C
Jaw Opening (intermeshing) 8.75" (220 mm) Humidity 95%RH max (non condensing)
www.KraftTeleRobotics.com
Weight In Air 130 lbs (59 kg) KMC 770 Servo Driver Module, provides all necessary power,
Weight In Seawater 90 lbs (41 kg) command and telemetry for the arm
Operating Depth, Standard 10,000 fsw (3000 msw) Dimensions (LxWxH) 5"x4.25"x2.46" (127x108x62 mm)
Operating Depth, Extended 21,000 fsw (6500 msw) Weight 1.4 lbs (0.64 kg)
Hydraulic Power Requirements: Power Requirements 6-40VDC 30 Watts © Copyright 2005, Kraft TeleRobotics Inc.
Operating Pressure 1500-3000 psi (104-207 bar) Ambient Temperature Operating -20°C to +70°C
Flow Rate 3 gpm (11 lpm) Storage -20°C to +85°C All information and specifications contained in this literature are based upon the latest product
Filtration 25 micron absolute Humidity 95%RH max (non condensing) information available at the time of publication. The right is reserved to make changes at any time
without notice in prices, materials, equipment and specifications.
Publication No. G505-1
Printed in U.S.A.
Kraft TeleRobotics
Hydraulic Fluid Type Petroleum / Mineral based oils Telemetry
Shell Tellus® 32 (or equivalent) Standard RS-232, RS-422/485, Ethernet
MIL-H-5606 NATO Code H-515 Optional Fiber Optic, (single mode / multimode)
Fire resistant Quaker Quintolubric® 822 RF (digital spread spectrum)
Performance in Motion Performance in Motion
TM TM