RFQ Attachment 1 Specifications 15 March 2024.pdf

AFRL/RI

Robotic 6-axis Positioner

15 Mar 2024

Vendor to submit quotation to AFRL/RI to deliver a robotic 6-axis positioner (hereafter referred to as the Robot) as described below. The system will be used to perform near-field antenna measurements within a rectangular anechoic chamber for various antennas under test (AUTs).

1. Specifications and Performance

Basic Physical Attributes:

• The robot shall have 6 degrees of freedom.

• The robot shall fit into the anechoic chamber with the following relevant dimensions:

o Chamber door opening: 0.9m x 2.0m o Chamber height (internal): 3m o Chamber width (internal): 4m

• The robot itself shall not weigh more than 60kg.

Electrical Specifications:

• The robot and controller shall use a standard 120V NEMA 5-15 plug for its power supply.

• The robot shall be programmable via a manufacturer provided, handheld controller or a computer and either of the following interfaces:

o USB o Ethernet

Performance Specifications:

• The robot shall support a tool weight of:

o 10kg at a maximum distance of 50mm.

o 2kg at a maximum distance of 200mm.

• The robot shall have a position repeatability of at least +/- 0.05mm.

• The robot shall support a maximum tool speed of 2.0 m/s.

• The robot shall support a tool acceleration of at least 25 m/s2.

• The robot shall have a minimum reach (end to flange) of 1400mm.

• The robot shall minimally support the following range of motion:

o Hemisphere:

▪ Manipulation of a 200mm long, rigid tool about a center point of an AUT placed at the center of a hemisphere with a maximum radius of 300mm.

▪ Manipulation of said tool along multiple points of the aforementioned hemisphere while maintaining the orientation of the tool at each point.

▪ Refer to Figure 1.

o Plane:

▪ Manipulation of a 200mm long, rigid tool about a 500mm x 500mm plane a maximum distance of 300mm from an AUT.

▪ Manipulation of said tool along multiple points of the aforementioned plane while maintaining the orientation of the tool perpendicular to the

AUT at each point.

▪ Refer to Figure 2.

• The robot shall support the attachment of radio frequency (RF) cables along the robot

(dressing) in a manner that will prevent cable damage or pinching.

• The robot shall support the attachment of anechoic absorber foam panels along the robot

(dressing).

• The robot shall include an alignment mechanism for directing the tool along a user-defined trajectory with a user-defined tool orientation.

Other Specifications:

• The robot must include built-in safety mechanisms for safely working in a collaborative environment with a human user.

• The robot control cable must be able to be routed through a bulkhead connection panel of an anechoic chamber.

• The vendor shall include additional safety sub-systems as part of their quote, including but not limited to:

o Laser scanning systems o Door interlock sensors

• The vendor must include as part of their quote the applicable emulation/simulation software for modelling and programming the robot for various user applications.

Figure 1. Hemispherical tool path and representative tool with orientation noted.

Figure 2. Plane tool path and representative tool with orientation noted.

2. Freight to: Rome, NY 13441

• Freight: robot, controller, all accessories

3. Installation

• Installation will be completed by AFRL/RI upon delivery.

4. Technical Support

• The vendor shall provide 6 months of technical support to AFRL/RI after delivery of the system. This technical support will include an assessment of how to best integrate the robot into the anechoic chamber in a manner that is repeatable and removable.