Changes between Initial Version and Version 1 of Wraptor/Specifications

Timestamp:

May 19, 2011, 4:19:24 PM (13 years ago)

Author:

edison

Comment:

--

Wraptor/Specifications

@@ +1 @@
+= Wraptor Specifications =
+== Overview ==
+Dimensions:     131h x 640w x 192d (mm)
+
+Mass:   6.9kg
+
+Voltage requirements:   48V +/- 2%
+
+Current requirements:   5A Min, 15A Typ, 50A Max
+
+Load limits:    50kg / finger
+
+Operating temperature limits:   0 to 70 degrees C (internal)
+
+Storage temperature limits:     -25 to 95 degrees C (non-condensing)
+
+Environmentally sealed:         IP-65
+
+== Motors ==
+
+|| Parameter                || Value ||
+|| Number of Phases         || 3 ||
+|| Number of Magnetic Poles || 6 ||
+|| Rotor Magnet Material    || Highest-Grade Neodymium Rare-Earth ||
+|| Commutation              || Sinusoidal Space-Vector Brushless PWM ||
+|| Peak Torque              || 0.65 N-m ||
+|| Steady State Torque      || 0.10 N-m ||
+|| Torque Constant          || 0.065 N-m/amp ||
+|| Motor Constant           || 0.042 N-m-W1/2 ||
+|| Position Feedback for Spread motor || '''3 Digital Hall Sensors X 6 Motor Magnet Poles:''' 18 states per motor revolution that are interpolated into 4,096 positions/motor rev. so true spread joint resolution = 360/(18*18.28) = 1.1 degrees. ||
+|| Position Feedback for inner and outer link motors || '''Absolute Magnetic Encoder Sensor on Motor Shaft:''' Absolute 4,096 positions/motor rev. via magnetic encoder, so inner and outer link resolutions are 0.0018 & 0.0023 degrees respectively. ||
+
+{{{
+#!div class="center" align="center"
+[[Image(htdocs:wraptor/dimensions.png)]]
+
+'''Wraptor Dimensions'''
+}}}