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.