= 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''' }}}