# Mechanical interfaces

> How to mount Rosie 1400 and attach tooling. Base-plate anchor pattern, tool-flange hole pattern, interface frames and dimensions measured from the CAD, with STEP, PDF and JSON downloads.

URL: https://advancedmetalresearch.com/docs/reference/mechanical-interfaces
Section: RosieOS docs / Reference
Last updated: 2026-10-10

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

| File | Contents |
|---|---|
| [`rosie-1400-base.step`](/assets/cad/rosie-1400-base.step) | Base plate solid, AP214, mm, in the base frame |
| [`rosie-1400-base.pdf`](/assets/cad/rosie-1400-base.pdf) | A3 drawing sheet: plan, section A–A, key dimensions, notes |
| [`rosie-1400-tool-flange.step`](/assets/cad/rosie-1400-tool-flange.step) | Tool flange unit solid, AP214, mm, in the flange frame |
| [`rosie-1400-tool-flange.pdf`](/assets/cad/rosie-1400-tool-flange.pdf) | A3 drawing sheet: face view, section A–A, key dimensions, notes |
| [`rosie-1400-interfaces.json`](/assets/cad/rosie-1400-interfaces.json) | Every 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](https://advancedmetalresearch.com/rosie#cad) on the Rosie page.

## Robot base

![Plan of the 300 by 300 mm Rosie 1400 base plate: four Ø26 mm anchor holes on a 250 mm square, R25 corners, and the base frame on the J1 axis at the centre.](https://advancedmetalresearch.com/assets/cad/rosie-1400-base-plan.svg)

*Figure: Base plate from above. The base frame is in red.*

![Diagonal section A-A through two anchor holes: the plate is 28.4 mm thick at the edges and anchors, and the flat underside is the mounting face at Z = 0.](https://advancedmetalresearch.com/assets/cad/rosie-1400-base-section.svg)

*Figure: Section A–A, on the diagonal through two anchor holes.*

| Feature | Value |
|---|---|
| Footprint | 300 × 300 mm, R25 corners |
| Anchor holes | 4 × Ø26 mm through, on a 250 × 250 mm square |
| Plate thickness | 28.4 mm at the edges and anchors (the clamp length) |
| Mounting face | Flat 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.

![View on the J6 flange face: the Ø38 mm mounting face, raised 0.5 mm, with six M5 holes on PCD 27 and 11.7 mm of thread, the first hole 30 degrees from the flange X axis, and the Ø79 mm outside diameter.](https://advancedmetalresearch.com/assets/cad/rosie-1400-tool-flange-face.svg)

*Figure: View on the flange face. The flange frame is in red.*

![Section A-A on the J6 axis: the flange unit is Ø79 mm outside and 39 mm long from the flange face.](https://advancedmetalresearch.com/assets/cad/rosie-1400-tool-flange-section.svg)

*Figure: Section A–A on the J6 axis.*

| Feature | Value |
|---|---|
| Mounting face | Ø38 mm, raised 0.5 mm |
| Mounting holes | 6 × M5 on PCD 27 |
| Thread depth | 11.7 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.

| Frame | Origin | Axes |
|---|---|---|
| Base | Centre of the base-plate underside, on the J1 axis | Z up along J1. X robot forward. Y = Z × X |
| Tool flange | Centre of the flange face, on the J6 axis | Z 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](https://advancedmetalresearch.com/docs/concepts/robot-description-and-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](mailto:generalcontact@advancedmetalresearch.com?subject=Rosie%201400%20mechanical%20interfaces) with the part you are designing.