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.