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</script>  </li> <li class="inquiry"><a href="http://www.pialasaya.com/message/" >在線詢價</a></li> <li class="inquiry"><p><a target="_self">資料下載</a></p>資料下載</li> </ul> </div> <div class="clearboth"></div> <div class="p_detail"> <span class="title"><strong>詳細介紹</strong></span> <div class="content"> <p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">無電控箱設計，結構精巧；</span></p><p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">開源代碼，系統簡單易用；</span></p><p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">標準循環時間0.5S；</span></p><p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">重復定位精度 ± 0.02mm</span></p><p style="white-space: normal;"><br/></p><p style="white-space: normal;"><span style="font-size: 14px;"><strong><span style="font-size: 14px; font-family: 微軟雅黑, "Microsoft YaHei";">輕量型SCARA<a href='http://www.pialasaya.com/product/205.html' target='_blank' class='key_tag'><font color=#136ec2><strong>工業機器人</strong></font></a>/SCARA機械臂</span></strong><strong><span style="font-size: 14px; font-family: 微軟雅黑, "Microsoft YaHei";"></span></strong><strong><span style="font-size: 14px; font-family: 微軟雅黑, "Microsoft YaHei";"></span></strong></span></p><p style="white-space: normal;"><span style="font-size: 14px;"><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px;"><br/></span></strong><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px;"></span></strong></span></p><p style="white-space: normal;"><span style="font-size: 14px;"><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px;"></span></strong></span></p><p style="white-space: normal; text-align: center;"><img src="/data/upload/image/20161027/1477558037213504.jpg" title="工業機器人" alt="工業機器人" width="200" height="186" border="0" vspace="0" style="width: 200px; height: 186px;"/></p><p style="white-space: normal;"><span style="font-size: 14px;"><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px;"></span></strong><br/></span></p><p style="white-space: normal;"><br/></p><p style="white-space: normal;"><span style="color: rgb(255, 0, 0); font-size: 14px;"><strong><span style="color: rgb(255, 0, 0); font-family: 微軟雅黑, "Microsoft YaHei";">核心特點：</span></strong></span></p><p style="white-space: normal;"><span style="color: rgb(255, 0, 0); font-size: 14px;"><strong><span style="color: rgb(255, 0, 0); font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px;"><br/></span></strong></span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>無電控箱設計，分布式控制系統；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 24px; text-indent: 24px; background-color: rgb(255, 255, 255);">● </span>免費開源代碼，系統簡單易用；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 24px; text-indent: 24px; background-color: rgb(255, 255, 255);">● </span>成本可控、安裝維護簡單；</span></p><p style="white-space: normal;"><span style="color: rgb(255, 0, 0); font-size: 14px;"><strong><span style="color: rgb(255, 0, 0); font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px;"> </span></strong></span></p><p style="white-space: normal;"><span style="color: rgb(255, 0, 0); font-size: 14px;"><strong><span style="color: rgb(255, 0, 0); font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px;">應用框圖：</span></strong></span></p><p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"> </span></p><p style="white-space: normal; text-align: center;"><img src="/data/upload/image/20161019/1476843423697643.jpg" title="SCARA機器人" alt="SCARA機器人" width="550" height="401" border="0" vspace="0" style="width: 550px; height: 401px;"/></p><p style="white-space: normal;"><br/></p><p style="white-space: normal;"><span style="font-size: 14px;"><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px; color: rgb(255, 0, 0);"> </span></strong><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px; color: rgb(255, 0, 0);"></span></strong></span></p><p style="white-space: normal;"><span style="font-size: 14px;"><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; color: rgb(255, 0, 0);">產品應用介紹：</span></strong><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; color: rgb(255, 0, 0);"></span></strong></span></p><p style="white-space: normal;"><span style="font-size: 14px;"><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px; color: rgb(255, 0, 0);"><br/></span></strong><strong><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px; color: rgb(255, 0, 0);"></span></strong></span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>適用于分揀、抓取、搬運、封裝零件或產品；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>驅動控制一體式結構，整機緊湊精巧；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>整機僅需4根線即可實現電氣與控制連接（兩根電源線、兩根通訊線）；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>電氣線路集成在一塊A9電路板上，節省空間，同時減少接線環節；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>可通過TCPIP、RS232、藍牙方式實現機器人與上位機連接。上位機可以是工控機、平板電腦、手機，簡單易用；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>提供完全開源的機器人控制系統、完整的SKD開發包；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>四軸設計，臂長400mm、600mm可選；</span></p><p style="white-space: normal; text-indent: 2em;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px; color: rgb(102, 102, 102); line-height: 32px; background-color: rgb(255, 255, 255);">● </span>有效負載1-3Kg；</span></p><p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"> </span></p><p style="white-space: normal;"><span style="color: rgb(255, 0, 0); font-size: 14px;"><strong><span style="color: rgb(255, 0, 0); font-family: 微軟雅黑, "Microsoft YaHei";">參數表：</span></strong></span></p><p style="white-space: normal;"><span style="color: rgb(255, 0, 0); font-size: 14px;"><strong><span style="color: rgb(255, 0, 0); font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 12px;"><br/></span></strong></span></p><table width="556" align="center"><tbody><tr class="firstRow" style="height: 12px;"><td width="111" valign="middle" align="center" style="padding: 0px; border-color: windowtext; background-color: rgb(187, 187, 187);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">臂長</span></p></td><td width="444" valign="middle" colspan="2" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">400mm</span></p></td></tr><tr style="height: 19px;"><td width="111" valign="middle" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(204, 204, 204);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">負載</span></p></td><td width="444" valign="middle" colspan="2" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">額定1kg/Z大3kg </span></p></td></tr><tr style="height: 16px;"><td width="111" valign="middle" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(187, 187, 187);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">標準循環時間</span></p></td><td width="444" valign="middle" colspan="2" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">0.5秒</span></p></td></tr><tr style="height: 20px;"><td width="111" valign="middle" rowspan="2" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(204, 204, 204);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">重復定位精度</span></p></td><td width="129" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第1-2關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">±0.05mm</span></p></td></tr><tr style="height: 19px;"><td width="129" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第4關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">±0.02mm</span></p></td></tr></tbody></table><p style="white-space: normal;"><br/></p><table width="556" align="center"><tbody><tr class="firstRow" style="height: 19px;"><td width="114" valign="middle" align="center" style="padding: 0px; border-color: windowtext; background-color: rgb(187, 187, 187);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">安裝方式</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><br/></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">臺面安裝</span></p></td></tr><tr style="height: 16px;"><td width="114" valign="middle" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(204, 204, 204);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">臂長</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第1-2軸臂</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">400mm</span></p></td></tr><tr style="height: 20px;"><td width="114" valign="middle" rowspan="3" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(187, 187, 187);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">Z大運動速度</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第1-2關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">4000mm/s</span></p></td></tr><tr style="height: 16px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第3關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">800mm/s</span></p></td></tr><tr style="height: 19px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第4關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">360。/s</span></p></td></tr><tr style="height: 16px;"><td width="114" valign="middle" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(204, 204, 204);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">本體重量（不含線纜重）</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><br/></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">14kg</span></p></td></tr><tr style="height: 19px;"><td width="114" valign="middle" rowspan="3" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(187, 187, 187);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">重復定位精度</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第1-2關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">±0.02mm</span></p></td></tr><tr style="height: 16px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第3關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">±0.02mm</span></p></td></tr><tr style="height: 18px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第4關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">±0.02。</span></p></td></tr><tr style="height: 16px;"><td width="114" valign="middle" rowspan="4" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(204, 204, 204);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">Z大運動范圍</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第1關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">±150。</span></p></td></tr><tr style="height: 19px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第2關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">±150。</span></p></td></tr><tr style="height: 18px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第3關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">200mm</span></p></td></tr><tr style="height: 19px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第4關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">±180。</span></p></td></tr><tr style="height: 18px;"><td width="114" valign="middle" rowspan="2" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(187, 187, 187);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">負載</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">額定值</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">1kg</span></p></td></tr><tr style="height: 19px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">Z大值</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">3kg</span></p></td></tr><tr style="height: 18px;"><td width="114" valign="middle" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(204, 204, 204);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">標準循環時間</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><br/></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">0.5s</span></p></td></tr><tr style="height: 19px;"><td width="114" valign="middle" rowspan="4" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(187, 187, 187);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">電機功耗</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第1關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">200w</span></p></td></tr><tr style="height: 18px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第2關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">150w</span></p></td></tr><tr style="height: 20px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第3關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">60w</span></p></td></tr><tr style="height: 18px;"><td width="127" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">第4關節</span></p></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">60w</span></p></td></tr><tr style="height: 20px;"><td width="114" valign="middle" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(204, 204, 204);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">用戶電路</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><br/></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">9針(D-Sub接口)</span></p></td></tr><tr style="height: 24px;"><td width="114" valign="middle" align="center" style="padding: 0px; border-right-color: windowtext; border-left-color: windowtext; background-color: rgb(187, 187, 187);"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">安全標準</span></p></td><td width="127" valign="middle" align="center" style="padding: 0px;"><br/></td><td width="315" valign="middle" align="center" style="padding: 0px;"><p><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;">CE.</span></p></td></tr></tbody></table><p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"> <span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"> 1 負載2kg下，（水平300mm、垂直25mm）往返拱形運動的循環時間（Z大速度Z優路徑坐標）<br/></span></span></p><p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; font-size: 14px;"> 2 負載重心與第4關節中心位置一致。</span></p><p style="white-space: normal;"><span style="font-family: 微軟雅黑, "Microsoft YaHei"; 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