The Marvin Series features biomimetic dual arms with full-joint torque control.
Full-Force Control Architecture — Safe and Compliant
Each joint is equipped with a high-precision torque sensor,
enabling real-time force perception and adaptive impedance adjustment across the entire arm.
Marvin delivers genuine compliant interaction — supporting precision assembly, collision detection,
and human–robot collaboration without the need for external force sensors.
Humanoid Configuration — Natural and Agile
With a 7-DOF symmetric design, Marvin moves fluidly and intuitively.
Its lightweight, integrated joint modules ensure easy maintenance and effortless operation,
making it ideal for a wide range of humanoid and collaborative applications.
Biomimetic Cross-Axis Wrist — Human-Level Precision Motion
A breakthrough cross-axis wrist structure replicates the biomechanical characteristics of the human wrist,
achieving truly functionally equivalent, human-like motion.
This design significantly enhances the accuracy and adaptability of remote teleoperation across diverse scenarios.
Industrial-Grade Performance
— Reliable and Robust
Innovative elastic compensation technology greatly improves absolute precision.
Combined with industrial-grade rigidity and accuracy,
Marvin delivers reliable performance even in demanding environments
— from research labs to production lines.
Integrated Wiring — Clean and Efficient
A large hollow-through design enables internal routing for camera and power cables,
preventing external entanglement or wear.This ensures greater freedom of motion and environmental adaptability,
allowing quick integration of stereo cameras and other high-density sensing modules while maintaining a clean,
streamlined appearance.
Flexible Expansion — Rich Connectivity
Marvin's multi-interface design supports dexterous hands and various end-effectors.
The wrist end provides EtherCAT, CAN FD, RS485, and high-current power output,
enabling seamless connection to dexterous hands, six-axis force sensors, and other peripherals.
Its open architecture allows users to customize and
extend functionality for industrial or research applications.
Mobile Integration — Boundless Motion
Marvin can be integrated with a variety of mobile platforms, achieving omnidirectional movement and precise manipulation.
It's built to adapt effortlessly to industrial, commercial, and service environments
— wherever human-like mobility and precision are needed.
| Model | Marvin M3 | Marvin M6CCS | Marvin M6SRS | |
|---|---|---|---|---|
| 定位 | 仿人十字交叉手腕。超轻量，超经济； 适用于科研，商用，准工业双臂或人形机器人场景。 | 仿人十字交叉手腕。 适用于对精度，速度和刚性，负载能力，可靠性，寿命要求高的 双臂或人形机器人场景。 | 传统手腕。 适用于对精度，速度和刚性，负载能力，可靠性，寿命要求高的 双臂或人形机器人。 |
|
| 单臂关节数 | 7 | 7 | 7 | |
| 额定负载（单臂） | 3kg | 6kg | 6kg | |
| 手腕构型 | 十字交叉手腕 | 十字交叉手腕 | 传统协作手腕 | |
| 工作半径 （J2轴线到末端法兰） | 615mm | 696mm | 686mm | |
| 本体重量（单臂） | 7.5KG | 11KG | 11KG | |
| TCP最⼤速度 | 1.5m/s | 2m/s | 2m/s | |
| Repeatability (mm) | ±0.05mm | ±0.03mm | ±0.03mm | |
| 关节扭矩传感器 | 各轴标配 | 各轴标配 | 各轴标配 | |
| 相机线 | 可内置到小臂 | 可内置到末端 | 可内置到末端 | |
| 作用力重复精度 | ≤0.15N，≤0.05N.m | ≤0.15N，≤0.05N.m | ≤0.15N，≤0.05N.m | |
| 末端六维⼒传感器 | ⽀持选配 | ⽀持选配 | ⽀持选配 | |
| 运 动 范 围 | J1 | ±178° | ±178° | ±178° |
| J2 | ±120° | ±120° | ±120° | |
| J3 | ±178° | ±178° | ±178° | |
| J4 | +60°/-145° | +60°/-145° | +60°/-145° | |
| J5 | ±178° | ±178° | ±178° | |
| J6 | ±60° | ±60° | ±110° | |
| J7 | ±90° | ±90° | ±178° | |
| 最 大 速 度 | J1 | 180°/s | 180°/s | 180°/s |
| J2 | 180°/s | 180°/s | 180°/s | |
| J3 | 180°/s | 180°/s | 180°/s | |
| J4 | 180°/s | 180°/s | 180°/s | |
| J5 | 180°/s | 180°/s | 180°/s | |
| J6 | 180°/s | 180°/s | 180°/s | |
| J7 | 180°/s | 180°/s | 180°/s | |
| Ingress Protection Rating | IP54 | IP54 | IP54 | |
| 抱闸控制（制动方式） | J1-J4带抱闸 | 各关节带抱闸 | 各关节带抱闸 | |
| 通讯方式 | EtherCAT通讯 | |||
| 通讯周期 | ≤1ms | |||
| 调试软件 | 配7个轴的上位机设置和调试可视化软件 | |||
| 编码器 | 双绝对值编码器 | |||
| 本体接口（末端手柄） | 拖动开启按键 | |||
| 本体接口(电源） | 电源24v(额定电流3A) | |||
| 本体接口(通讯） | RS485、Canfd、Ethercat | |||
| 电气指标（功耗） | 200w(平均)，600w(峰值) | |||
| 电气指标(工作电压范围） | 48V(+15%) | |||
| 认证指标 | CE认证、ISO/TS15066，13849-1PLd(Cat.3)，EN60204-1-2018，ENIEC6100-6-4-2，ENISO12100:2010 | |||
