{ "schema": "amr.rosie-1400.mechanical-interfaces.v1", "product": "Rosie 1400", "manufacturer": "Advanced Metal Research", "generated": "2026-09-30", "units": { "length": "mm", "angle": "deg" }, "status": "For reference. Confirm with AMR before machining. Null means not determinable from the CAD.", "source": { "cad": "Rosie 1400 robot STEP (rosie-1430-clean.step, Autodesk Fusion export 2026-09-26)", "method": "Interface solids extracted unchanged from the B-rep and moved into the interface frames. Dimensions measured from their faces with Open CASCADE." }, "contact": "generalcontact@advancedmetalresearch.com", "page": "/docs/reference/mechanical-interfaces", "docs": "/docs/reference/mechanical-interfaces", "interfaces": { "base": { "name": "Robot base (floor or pedestal mounting)", "part": "1-01-02-base-plate", "source_solid": "rosie-1430-clean/1-00-02-dog:1/1-01-02-base-plate:1", "files": { "step": { "href": "/assets/cad/rosie-1400-base.step", "bytes": 250815 }, "pdf": { "href": "/assets/cad/rosie-1400-base.pdf" }, "svg_sheet": { "href": "/assets/cad/rosie-1400-base.svg" }, "svg_views": [ "/assets/cad/rosie-1400-base-plan.svg", "/assets/cad/rosie-1400-base-section.svg" ] }, "frame": { "name": "base", "origin": "Centre of the base-plate underside (the mounting face), on the J1 axis", "x": "Robot forward: the direction of the J2 offset with J1 at zero", "y": "Z cross X", "z": "Up, along the J1 axis", "origin_in_robot_cad_mm": [ 0.0, -0.0, -29.4 ], "note": "Axes are parallel to the robot CAD frame; the origin is the robot CAD origin moved down to the mounting face.", "urdf": "Orientation and XY origin match the J1 joint frame (link_1 origin at J1 = 0) of RosieOS robot_description rosie_1400_v3. That URDF is a simplified model; take heights from this file." }, "plate": { "footprint_mm": [ 300, 300 ], "corner_radius_mm": 25, "thickness_mm": 28.4, "thickness_note": "Thickness at the plate edges and at the anchor holes. The robot's own seat features stand above it inside the anchor pattern and are not part of the mounting interface." }, "mounting_face": { "z_mm": 0, "flat_contact_area_mm2": 72970, "description": "Flat underside, no spigot or dowel holes. The robot's own fasteners are recessed into it." }, "mounting_holes": { "purpose": "Floor or pedestal anchors", "count": 4, "diameter_mm": 26, "type": "through", "thread": null, "pattern": "rectangular", "spacing_mm": [ 250, 250 ], "positions_mm": [ [ -125, 125 ], [ 125, -125 ], [ 125, 125 ], [ -125, -125 ] ], "clamp_length_mm": 28.4, "note": "Plain Ø26 through holes. Ø26 is the ISO 273 medium clearance for M24; confirm anchor size, grade and preload with AMR." }, "locating_features": { "spigot_or_pilot": null, "dowel_holes": null, "note": "The CAD has no floor-side spigot or dowel holes. The plate is located by the anchor pattern. Confirm the locating method with AMR if repeatable re-mounting is needed." }, "robot_side_features": "Not part of the mounting interface: the holes and recesses inside the anchor pattern take the robot's own fasteners. Their geometry is in the STEP file.", "iso_9409_1": null, "verify": [ "Anchor bolt size, grade and tightening torque", "Locating method for repeatable re-mounting (no dowels in the CAD)" ] }, "tool_flange": { "name": "Tool flange (J6 output, end-of-arm mounting)", "part": "HSS-17-100-I-D8 hollow-shaft unit, LSS-17 output (bought-in reducer unit)", "source_solid": "rosie-1430-clean/5-00-03:1/HSS-17-100-I-D8:1/LSS-17:1", "files": { "step": { "href": "/assets/cad/rosie-1400-tool-flange.step", "bytes": 396053 }, "pdf": { "href": "/assets/cad/rosie-1400-tool-flange.pdf" }, "svg_sheet": { "href": "/assets/cad/rosie-1400-tool-flange.svg" }, "svg_views": [ "/assets/cad/rosie-1400-tool-flange-face.svg", "/assets/cad/rosie-1400-tool-flange-section.svg" ] }, "frame": { "name": "tool_flange", "origin": "Centre of the flange face, on the J6 axis", "z": "Out of the flange face, along the J6 axis", "x": "Midway between two mounting holes: the first mounting hole is 30 deg from +X", "y": "Z cross X", "origin_in_robot_cad_mm": [ 933.0, 0.0, 855.0 ], "axes_in_robot_cad_at_home": { "x": [ 0.0, 0.052, -0.999 ], "y": [ 0.0, 0.999, 0.052 ], "z": [ 1.0, 0.0, 0.0 ] }, "clock_note": "At the CAD home pose, +X is rotated 3 deg about Z from straight down. Confirm the hole-pattern angle at J6 = 0 on the robot with AMR.", "urdf": "In RosieOS rosie_1400_v3, tool0 is the torch contact-tip frame, not this flange. The link_6 origin lies on the J6 axis at the flange face with +Z pointing into the wrist, so this frame's Z is link_6 -Z." }, "mounting_face": { "diameter_mm": 38, "raised_mm": 0.5, "note": "Flat Ø38 face, 0.5 mm proud of the surrounding shoulder, with a 0.4 x 45 deg edge chamfer. No fit is given; it is not a register." }, "mounting_holes": { "purpose": "Tool mounting", "thread": "M5", "thread_source": "AMR (the CAD models the Ø4.2 tap-drill bore)", "count": 6, "diameter_mm": 4.2, "pcd_mm": 27, "angles_deg": [ 30, 90, 150, 210, 270, 330 ], "positions_mm": [ [ 11.691, 6.75 ], [ 0, 13.5 ], [ -11.691, 6.75 ], [ -11.691, -6.75 ], [ 0, -13.5 ], [ 11.691, -6.75 ] ], "first_hole_angle_from_x_deg": 30, "type": "through the output plate", "thread_depth_mm": 11.7, "output_plate_thickness_mm": 12.5, "note": "Tapped through the 12.5 mm output plate, with 0.4 mm chamfers at both ends, leaving 11.7 mm of thread. Screws must not protrude past the plate: it opens into the reducer unit." }, "envelope": { "outside_diameter_mm": 79, "length_mm": 39, "note": "Largest diameter of the flange unit (its Ø79 mounting flange) and its length from the flange face to its rear face." }, "other_face_features": "Not part of the published tool interface: the face also carries 6 x Ø4.2 holes on PCD 19, 3 x Ø3 holes on PCD 15 and a Ø10 bore. Their geometry is in the STEP file.", "iso_9409_1": null, "iso_9409_1_note": "Not an ISO 9409-1 flange: PCD 27 is not an ISO 9409-1 pitch circle. Tooling on the ISO adapter is quoted separately.", "verify": [ "Hole-pattern clock angle at J6 = 0" ] } } }