Version 1 (modified by edison, 14 years ago) (diff) |
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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. |