02_02210_SOW_Robot_Arm_revised_8_6_2018.docx

REQUIRMENTS DOCUMENT

TITLE: Small Precision Programmable Robotic Arm LAB REQUESTING SERVICE: Communications Technology Laboratory (CTL), Radio Frequency Technology (RFT) Division (672)

I. BACKGROUND INFORMATION

CTL has a requirement for one (1) small precision programmable robotic arm to assist in performing channel characterization at millimeter-wave frequencies (e.g. 28GHz).

II. DESCRIPTION

CTL requires a robot arm to move antennas weighing approximately 100g with six degrees of freedom in a working area of about 10cm by 10cm by 10cm. Because the antenna will be connected to an RF cable, the robot arm should also be able to lift at least 500g. Also because of the high frequency involved, the robot arm must have an absolute positioning accuracy of 200um with a positioning repeatability of 10um. To fully characterize the subject channels, one robot arm is required.

III. SPECIFICATIONS

The Contractor shall provide a one (1) small precision programmable robot arm with the following specifications:

· Six degrees of freedom

· Capability to move antennas plus RF cable weighing no less than 500g

· Absolute position accuracy to within 200um or better over 10 cm by 10 cm grid, tested by first aligning robot to four or eight known points in the grid, and then determining the accuracy with which the robot finds other points in the grid not used to calibrate the robot

· Positioning repeatability to within 10um or better

· Position volume of at least 10cm on a side

· A controller that accepts simple software commands from LabView, MatLab, Python, .NET or similar driver software to position the robot over standard communication media (e.g. GPIB, LAN, USB,Ethernet, etc.)

· An emergency stop, and the possibility to have light curtains and machine guard interlocks

IV. DELIVERY

No later than 90 days after receipt of order (ARO)

V. PLACE OF PERFORMANCE

All work shall be completed at the Contractor’s facility. Installation of the instrument and training shall be accomplished at NIST, Boulder, CO. Normal duty hours are Monday through Friday, 8:30 a.m. to 5:00 p.m. with the exception of Federal holidays.

VI. ACCEPTANCE / INSPECTION

Prior to acceptance and final payment, CTL personnel will ensure the product meets expectation through inspection and test. As part of this inspection and test, the Contractor shall demonstrate that all performance standards in this statement of work have been met.

VII. WARRANTY

Standard commercial, 1-year