Changes between Version 2 and Version 3 of WAM/HardwareSetup


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Timestamp:
Aug 18, 2011, 7:14:53 PM (9 years ago)
Author:
cv
Comment:

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  • WAM/HardwareSetup

    v2 v3  
    7676'''Table 3 – DC Power Requirements'''
    7777
    78 ||4-DOF||7-DOF
    79 ||Quiescent: 18W||Quiescent: 27W
    80 ||Typical: 28W||Typical: 45W
    81 ||Peak: 600W||Peak: 800W
    82 (Quiescent = powered up, no torques applied; Typical = operation with 2-kg payload)
     78|| Status                 || Control || 4-DOF || 7-DOF ||
     79|| Powered on, no torques || External || 18 W  ||  27 W ||
     80|| Active at home position || External || 30 W || 40 W ||
     81|| Active at worst-case!** position, 4kg payload || External || 65 W || XXX ||
     82|| Active at worst-case!** position, 3kg payload || External || XXX || 80 W ||
     83|| Active at worst-case!** position, 3kg payload || Internal || XXX || 85 W ||
     84|| Active at worst-case!** position with BH8-280, 2kg payload || Internal || XXX || 120 W ||
     85|| Peak                 || External || 600 W || 800 W ||
     86!** The worst-case position is the arm fully extended, with the base rotated 90 degrees such that joints 2, 4 and 6 must exert a large torque to counteract gravity.
    8387}}}
    8488