Version 6 (modified by bz, 11 years ago) (diff) |
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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.