| 1 | = Wraptor Specifications = |
| 2 | == Overview == |
| 3 | Dimensions: 131h x 640w x 192d (mm) |
| 4 | |
| 5 | Mass: 6.9kg |
| 6 | |
| 7 | Voltage requirements: 48V +/- 2% |
| 8 | |
| 9 | Current requirements: 5A Min, 15A Typ, 50A Max |
| 10 | |
| 11 | Load limits: 50kg / finger |
| 12 | |
| 13 | Operating temperature limits: 0 to 70 degrees C (internal) |
| 14 | |
| 15 | Storage temperature limits: -25 to 95 degrees C (non-condensing) |
| 16 | |
| 17 | Environmentally sealed: IP-65 |
| 18 | |
| 19 | == Motors == |
| 20 | |
| 21 | || Parameter || Value || |
| 22 | || Number of Phases || 3 || |
| 23 | || Number of Magnetic Poles || 6 || |
| 24 | || Rotor Magnet Material || Highest-Grade Neodymium Rare-Earth || |
| 25 | || Commutation || Sinusoidal Space-Vector Brushless PWM || |
| 26 | || Peak Torque || 0.65 N-m || |
| 27 | || Steady State Torque || 0.10 N-m || |
| 28 | || Torque Constant || 0.065 N-m/amp || |
| 29 | || Motor Constant || 0.042 N-m-W1/2 || |
| 30 | || 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. || |
| 31 | || 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. || |
| 32 | |
| 33 | {{{ |
| 34 | #!div class="center" align="center" |
| 35 | [[Image(htdocs:wraptor/dimensions.png)]] |
| 36 | |
| 37 | '''Wraptor Dimensions''' |
| 38 | }}} |