WAM Specifications

Motors

1-4 5-6 7 BHand Units
Design Voltage 48 48 48 19.8 V
Back EMF 0.457 0.236 0.067 0.0177 V/rad/sec
No Load Speed 100.218 192.309 569.022 1070 rad/s
Max Continuous Torque 1.490 0.356 0.091 0.0367 Nm
Torque Constant 0.457 0.236 0.067 0.0177 Nm/A
Inductance 4.068 3.918 2.035 1.14 mH
Resistance 3.473 6.213 5.205 4.95 Ohms
Rotor Inertia 9.293E-5 1.472E-5 1.349E-6 1.41E-7 kg*m2
Viscous Friction 7.549E-5 8.899E-6 1.259E-6 0.674E-3 Nm/rpm

Materials

Most machined parts in the WAM are 6061-T6 aluminum. Fasteners and mechanical cables are steel. Electrical wiring is copper. Covers are thermoformed Kydex and type II PVC. Rubber stops are polyurethane.

Power Requirements

The standard WAM system requires an input voltage of 24-90 VDC. The power requirements for both 4-DOF and 7-DOF WAMs are summarized in the table below. For AC operation, a converter for AC mode is supplied. The converter requires 50-60 Hz single-phase 100-120 VAC @ 7A or 200-240 VAC @ 3.5A for proper operation

DC Power Requirements

Status Control 4-DOF 7-DOF
Powered on, no torques External 18 W 27 W
Active at home position External 30 W 40 W
Active at worst-case** position, 4kg payload External 65 W XXX
Active at worst-case** position, 3kg payload External XXX 80 W
Active at worst-case** position, 3kg payload Internal XXX 85 W
Active at worst-case** position with BH8-280, 2kg payload Internal XXX 120 W
Peak External 600 W 800 W

** 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.

Last modified 4 years ago Last modified on Oct 18, 2013, 6:56:35 PM