Full-Force-Control Humanoid Arm
Marvin Series
A lightweight, 7-DOF humanlike arm design that responds as naturally as an extension of your own arm.
Empowering Robots to Explore the World Like Humans
The Marvin Series is a fully force-controlled biomimetic dual-arm system with torque sensing in every joint. Built on a cross-axis biomimetic wrist and full-joint torque sensing, it achieves truly humanlike motion and precise, force-interactive control.
Product Features
Marvin Series
Biomimetic Cross-Axis Wrist — Human-Level Precision Motion
A breakthrough cross-axis structure replicates the biomechanical characteristics of the human wrist, achieving genuinely functionally-equivalent, humanlike motion. This significantly improves the accuracy and scene adaptability of remote teleoperation.
Full-Force-Control Architecture — Safe, Compliant, High-Precision Torque Sensing
Supports real-time force sensing and adaptive impedance adjustment across the entire arm, delivering genuinely compliant interaction. Precision assembly, collision detection, and safe human-robot collaboration are all achieved without any additional force sensor.
Integrated Wiring — Clean and Efficient
A large hollow-through structure throughout the arm allows camera and power cables to be routed internally, avoiding external entanglement or abrasion and improving freedom of motion and environmental adaptability. It also allows rapid integration of highly integrated equipment such as stereo cameras, while keeping the overall design clean.
Flexible Expansion — Rich Configuration
Multi-interface integration supports dexterous hands and a variety of end-effectors. The wrist end provides EtherCAT, CAN FD, RS485, and other communication interfaces along with high-current power output, enabling rapid connection to dexterous hands, six-axis force sensors, and other peripherals to meet diverse industrial and research needs. The open architecture makes it easy for customers to customize and expand functionality.
Flexible Expansion — Rich Configuration
Multi-interface integration supports dexterous hands and a variety of end-effectors. The wrist end provides EtherCAT, CAN FD, RS485, and other communication interfaces along with high-current power output, enabling rapid connection to dexterous hands, six-axis force sensors, and other peripherals to meet diverse industrial and research needs. The open architecture makes it easy for customers to customize and expand functionality.
Flexible Expansion — Rich Configuration
Multi-interface integration supports dexterous hands and a variety of end-effectors. The wrist end provides EtherCAT, CAN FD, RS485, and other communication interfaces along with high-current power output, enabling rapid connection to dexterous hands, six-axis force sensors, and other peripherals to meet diverse industrial and research needs. The open architecture makes it easy for customers to customize and expand functionality.
Flexible Expansion — Rich Configuration
Multi-interface integration supports dexterous hands and a variety of end-effectors. The wrist end provides EtherCAT, CAN FD, RS485, and other communication interfaces along with high-current power output, enabling rapid connection to dexterous hands, six-axis force sensors, and other peripherals to meet diverse industrial and research needs. The open architecture makes it easy for customers to customize and expand functionality.
Flexible Expansion — Rich Configuration
Multi-interface integration supports dexterous hands and a variety of end-effectors. The wrist end provides EtherCAT, CAN FD, RS485, and other communication interfaces along with high-current power output, enabling rapid connection to dexterous hands, six-axis force sensors, and other peripherals to meet diverse industrial and research needs. The open architecture makes it easy for customers to customize and expand functionality.
| Model | Marvin M6S
SRS-686 |
Marvin M6S
CCS-696 |
Marvin M6S Lite
CCS-615 |
Marvin M6S
CCS-809 |
Marvin M3S Long
CCS-920 |
Marvin M20S
CCS-1050 |
|
|---|---|---|---|---|---|---|---|
| Number of Joints (Per Arm) | 7 | 7 | 7 | 7 | 7 | 7 | |
| Rated Payload (Per Arm) | 6KG | 6KG | 5KG | 5KG | 3KG | 20KG | |
| Wrist Configuration | Traditional collaborative wrist | Crossed-axis design | Crossed-axis design | Crossed-axis design | Crossed-axis design | Crossed-axis design | |
| Working Reach (J2 Axis to End Flange) |
686mm | 696mm | 615mm | 809mm | 920mm | 1050mm | |
| Weight (Per Arm) | 11.45KG | 12KG | 8KG | 12.7KG | 13.1KG | 30KG | |
| Maximum TCP Speed | 2m/s | 2m/s | 1.5m/s | 2m/s | 2m/s | 2m/s | |
| Repeatability | ±0.03 | ±0.03 | ±0.03 | ±0.04 | ±0.04 | ±0.1 | |
| Joint Torque Sensors | Standard on all axes | Standard on all axes | Standard on all axes | Standard on all axes | Standard on all axes | Standard on all axes | |
| Camera Cable | Embeddable in
end-effector |
Embeddable in
end-effector |
Embeddable in
end-effector |
Embeddable in
end-effector |
Embeddable in
end-effector |
Embeddable in
end-effector |
|
| Force Control Accuracy | ≤0.15N，≤0.05N.m | ≤0.15N，≤0.05N.m | ≤0.15N，≤0.05N.m | ≤0.15N，≤0.05N.m | ≤0.15N，≤0.05N.m | ≤0.15N，≤0.05N.m | |
| End-Effector 6-Axis Force Sensor | Optional | Optional | Optional | Optional | Optional | Optional | |
| Motion range | J1 | ±178° | ±178° | ±173° | ±178° | ±178° | ±170° |
| J2 | ±120° | ±120° | ±120° | ±120° | ±120° | ±120° | |
| J3 | ±178° | ±178° | ±173° | ±178° | ±178° | ±170° | |
| J4 | +60°/-145° | +60°/-145° | +45°/-145° | +60°/-145° | +60°/-145° | +60°/-145° | |
| J5 | ±178° | ±178° | ±173° | ±178° | ±178° | ±170° | |
| J6 | ±110° | ±60° | ±60° | ±60° | ±60° | ±60° | |
| J7 | ±178° | ±90° | ±90° | ±90° | ±90° | ±90° | |
| Max speed | J1 | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | 120°/s |
| J2 | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | 120°/s | |
| J3 | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | |
| J4 | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | |
| J5 | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | |
| J6 | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | |
| J7 | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | 180°/s | |
| Ingress Protection Rating | IP50 | IP50 | IP50 | IP50 | IP50 | IP65 | |
| Brake Control (braking method) | all joints with brakes | all joints with brakes | J1-J4 with brakes | all joints with brakes | all joints with brakes | all joints with brakes | |
| Electrical Specification(power consumption) | 400W（average） 600W（peak） |
400W（average） 600W（peak） |
200W（average） 400W（peak） |
400W（average） 600W（peak） |
400W（average） 600W（peak） |
1000W（average） 3800W（peak） |
|
| Communication Method | EtherCAT | ||||||
| Communication Cycle | ≤1ms | ||||||
| Debugging Software | PC-based setup & visualization software for 7axes | ||||||
| Encoder | Dual absolute encoders | ||||||
| On-board Interface (end-effector) | Drag-teach enabling button | ||||||
| On-board Interface (power) | 24 VDC (rated current 3 A) | ||||||
| On-board Interface (communication) | RS485 、CAN FD、EtherCAT | ||||||
| Electrical Specification(operating voltage range) | 48V（±10%） | ||||||
| Certifications | CE、ISO/TS 15066，13849-1PLd（Cat.3），EN 60204-1-2018，EN IEC EN IEC 61000-6-2，
EN IEC 61000-6-4，EN ISO 12100:2010 |
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