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Mechanical interfaces

On this page
  1. Downloads
  2. Robot base
  3. Tool flange
  4. Frames
  5. To verify with AMR

Rosie 1400 has two mechanical interfaces: the base plate that anchors it to the floor or a pedestal, and the J6 tool flange that carries the end-effector. This page gives their dimensions and frames, and links the files you need to design a pedestal or a tool plate.

The dimensions are measured from the robot CAD. The interface solids are extracted from the robot STEP unchanged and moved into the frames described below. They are nominal, with no tolerances or fits. Where the CAD does not define a thread or a fit, this page gives the plain hole size and marks it verify. Confirm with AMR before machining.

Downloads#

FileContents
rosie-1400-base.stepBase plate solid, AP214, mm, in the base frame
rosie-1400-base.pdfA3 drawing sheet: plan, section A–A, key dimensions, notes
rosie-1400-tool-flange.stepTool flange unit solid, AP214, mm, in the flange frame
rosie-1400-tool-flange.pdfA3 drawing sheet: face view, section A–A, key dimensions, notes
rosie-1400-interfaces.jsonEvery dimension on this page, the frame definitions and the file links, machine-readable. null means not determinable from the CAD

This page holds the dimensioned drawings. Full STEP models of the whole robot, with URDF and MuJoCo files, are in the kits under CAD and simulation on the Rosie page.

Robot base#

Rosie 1400 base plate, plan view Plan of the 300 by 300 mm base plate from above: four Ø26 mm through holes on a 250 mm square for floor anchors, R25 corners, and the base frame axes on the J1 axis at the centre. 300 250 300 250 4× Ø26 THRU FLOOR ANCHORS R25 4 CORNERS A A X Y Z
Base plate from above. The base frame is in red.
Rosie 1400 base plate, section A-A Diagonal section through two anchor holes: the plate is 28.4 mm thick at the edges and anchors, the underside is the flat mounting face at Z = 0, and the base frame origin is on it. 28.4 MOUNTING FACE Z = 0 FLAT, NO SPIGOT OR DOWELS Z
Section A–A, on the diagonal through two anchor holes.
FeatureValue
Footprint300 × 300 mm, R25 corners
Anchor holes4 × Ø26 mm through, on a 250 × 250 mm square
Plate thickness28.4 mm at the edges and anchors (the clamp length)
Mounting faceFlat underside with no spigot and no dowel holes

The holes and recesses inside the anchor pattern take the robot's own fasteners. They are not part of the mounting interface, and their geometry is in the STEP file.

Mounting the robot. Mount on a flat, rigid surface through the four Ø26 holes. Ø26 is the ISO 273 medium clearance for M24; confirm the anchor size, grade and tightening torque with AMR. The robot's own fasteners are recessed into the plate, so the pedestal face can be plain and flat. The plate has no dowel holes. If the robot must be re-mounted repeatably, agree a locating method with AMR.

Tool flange#

The J6 output is the flange of a bought-in hollow-shaft reducer unit (HSS-17-100-I-D8). Tooling sits on its Ø38 mounting face and bolts on with six M5 screws.

Rosie 1400 tool flange, face view View on the J6 flange face: the Ø38 mm mounting face, raised 0.5 mm, with six M5 holes equally spaced on PCD 27, 11.7 mm of thread, the first 30 degrees from the flange X axis, Ø79 mm outside diameter, and the flange frame axes. 6× M5 THRU EQ SP ON PCD 27 THREAD DEPTH 11.7 Ø38 MOUNTING FACE RAISED 0.5 30° Ø79 A A X Y Z
View on the flange face. The flange frame is in red.
Rosie 1400 tool flange, section A-A Section through the flange unit on the J6 axis: Ø79 mm outside diameter and 39 mm long from the flange face. 39 Ø79 Z Y
Section A–A on the J6 axis.
FeatureValue
Mounting faceØ38 mm, raised 0.5 mm
Mounting holes6 × M5 on PCD 27
Thread depth11.7 mm, through the 12.5 mm output plate. Screws must not protrude

Mounting a tool. The M5 holes are tapped through the 12.5 mm output plate, which has a 0.4 mm chamfer at each end, so 11.7 mm of thread is available. The back of the plate opens into the reducer unit, so screws must not protrude past it. The first hole is 30° from the flange X axis, then every 60°. The Ø38 face stands 0.5 mm proud and has no specified fit, so do not use it as a register without AMR confirmation.

The outside envelope of the flange unit is Ø79 × 39 mm from the face. Tooling larger than the Ø49.5 output ring must clear the stationary housing behind it, including screw heads that are not modelled. The flange is not an ISO 9409-1 flange; standard tooling mounts on the ISO adapter, which is quoted separately.

Frames#

Both STEP files are written in the frame of their interface, in millimetres.

FrameOriginAxes
BaseCentre of the base-plate underside, on the J1 axisZ up along J1. X robot forward. Y = Z × X
Tool flangeCentre of the flange face, on the J6 axisZ out of the face along J6. X 30° before the first mounting hole. Y = Z × X

The base frame is parallel to the robot CAD frame. In the RosieOS description rosie_1400_v3 it matches the J1 joint frame (the link_1 origin at J1 = 0) in orientation and in X and Y.

The flange frame is not the URDF tool0. In rosie_1400_v3, tool0 is the torch contact-tip frame (see Robot description and coordinate frames). The link_6 origin lies on the J6 axis at the flange face with +Z pointing into the wrist, so the flange frame's Z is link_6 −Z. At the CAD home pose, flange X is 3° from straight down. Confirm the hole-pattern angle at J6 = 0 with AMR before you rely on it.

To verify with AMR#

  • Anchor bolt size, grade and torque, and a locating method if you need repeatable re-mounting.
  • The hole-pattern clock angle at J6 = 0.

Write to generalcontact@advancedmetalresearch.com with the part you are designing.