User's Manual

Mirobot Mirobot Robot Users Manual
Document version Users Manual Beijing Tsinew Technologies Co.,Ltd.
Mirobot is composed of a base, six rotating joints, a giant arm, a small arm, an end tool,
etc. Informal writing its appearance is shown in Figure 3.1.
Figure 3.1 appearance of Mirobot
3.3 Working principle and specification
This chapter mainly describes the working space, working principle, size ,and key
technical specifications of Mirobot.
3.3.1 Working space
Mirobot's workspace is shown in Figure 3.2.
Figure 3.2 Mirobot's workspace
3.3.2 Coordinate system
Mirobot's six joint coordinate systems and Cartesian space coordinate systems are
shown in Figure 3.3 and Figure 3.4 , respectively.