perm filename MSPECS.S[1,VDS] blob sn#179484 filedate 1975-09-29 generic text, type C, neo UTF8

COMMENT ⊗ VALID 00004 PAGES C REC PAGE DESCRIPTION C00001 00001 C00002 00002 MOTOR CURRENT SPECIFICATIONS FOR STANFORD ARMS C00005 00003 MOTOR SPECIFICATIONS FOR STANFORD ARM C00010 00004 GEAR RATIOS AND GEARING DETAILS FOR STANFORD ARM C00013 ENDMK C⊗; MOTOR CURRENT SPECIFICATIONS FOR STANFORD ARMS This file lists the specifications for the motors on the mechanical arms. Arms are named by color or proposed color and joints are numbered starting at the base and working out to the hand.. NOTE: When it says max. current limit it means that the motor must NEVER see a current exceeding this value even for one millisecond! Also, for sufficient maximum arm velocity, the power amps should put out a maximum 24-28 volts d.c., bipolar. GOLD ARM (built in 1969) Joint #1- U9M4 motor (Photocircuits Corp.)- .84ohms, no max current limit. design for 15-20 amps pulse (100-1000 ms.) and 6 amps cont. Joint #2- U9M4 motor- same as Joint #1. Joint #3- E-576-01 motor(Electrocraft)-1.55ohms, 24 amps max.current limit design for 10-15 amps pulse and 4 amps cont. Joint #4 ←oint #5- same as Joint #4 Joint #6- Hand- NT-0739-C motor(Inland Motor Corp.)-16.7ohms, 1.55 amps max.current limit. BLUE ARM (built in 1972) Joint #1-U9M4 motor- see above Joint #2-U12M4 motor- .75 ohms, no max current limit, but can design for 10-15 amps pulse(100-1000ms) and 7.5 amps continuous (5-10 secs.) Jount #3- 3069-255 motor(Magnetic Technology)- 5 ohms,5.06 amps max. current limit. Joint #4- BYLM- Joint #5 BYLM- Joint #6 Globe - Hand- NT-0739-C See above RED ARM (built in 1974) Joint #1- U9M4- See Above Joint #2- U12M4- See Above Joint #3- 402-14(Magnedyne)- 2.6ohms, 7.5 amps max. current limit. Joint #4- 1937D-100(Magnetic Technology)-16.7ohms, 1.4 amps. max. current limit. Joint #5- 1937D-100- See above Joint #6- NT-0741-C See above. Hand NT-0741-C See Above. MOTOR SPECIFICATIONS FOR STANFORD ARM September 7,1975 Joint 1 Printed Motors Inc.- Model U9M4T ( Motor-Tachometer in single unit) Cont Torque- 20 in-oz Max. Cont. Stall Current- 6.2 Amps Terminal Res. .84ohms @ 25Deg. C, 1.21 ohms @ 150 deg. C. Torque Constant- 6.1 oz-in/amp EMF Const.- 4.5 V/1000rpm Damping Const.- 1.2 oz-in/1000 rpm Total Inertia- .008 oz-in sec sec. Regulation@ const voltage- 41.6 rpm/in-oz. Armature Inductance- <100micro-henries. Average Friction torque- 6 oz-in. Mechanical Time Const.- .035 sec. Tachometer Constants Output Gradient- 2.25v/1000rpm Output Impedance 1 ohm. Joint 2 Printed Motors Inc.- Model U12M4T ( Motor-Tachometer in single unit) Cont Torque- 66 in-oz Max. Cont. Stall Current- 7.6 Amps Terminal Res. .75ohms @ 25Deg. C, 1.07 ohms @ 150 deg. C. Torque Constant-14.4 oz-in/amp EMF Const.-10.6 V/1000rpm Damping Const.- 4.5 oz-in/1000 rpm Total Inertia- .033 oz-in sec sec. Regulation@ const voltage- 6.77 rpm/in-oz. Armature Inductance- <100micro-henries. Average Friction torque- 6 oz-in. Mechanical Time Const.- .023 sec. Tachometer Constants Output Gradient- 5.30v/1000rpm Output Impedance 1 ohm. Joint 3 Magnedyne Inc.- Model 402-14 (20vdc winding) Peak Torque-300 in-oz Max. Stall Current- 7.5 Amps Terminal Res.2.75ohms @ 25Deg. C. Torque Constant-40 oz-in/amp EMF Const.-.3 V/rad/sec. Damping Const.- 4.4 ozin/rad/sec. Total Inertia- .029 oz-in sec sec. Average Friction torque- 9 oz-in. Mechanical Time Const.- .007 sec. Electrical Time Const.- .0016 secs. Max. continuous stalled current- 3.5 amps. Tachometer Constants (Separate Unit) Servo-Tek, Inc. Output Gradient- 7.0v/1000rpm Resistance- 100 ohm. Joints 4 and 5 Magnetic Technology Inc. Model 1937D-100-043 Peak Torque-20 in-oz Max. Stall Current- 2.8 Amps Terminal Res.4.3ohms @ 25Deg. C. Torque Constant-7.1oz-in/amp EMF Const.-.05 V/rad/sec. Damping Const.- .093 ozin/rad/sec. Total Inertia- .0015 oz-in sec sec. Average Friction torque- 1.5oz-in. Electrical Time Const.- .0005 secs. Max. continuous stalled current- 1.5 amps. Tachometer Constants - HICO Model 2112-N913 Output Gradient- .72v/1000 rpm Resistance- 183 ohms. #4 joint tach runs at 2.88 times motor speed #5 joint tach runs at motor speed Joint 6 and Hand Inland Motors, Inc. Model NT-0741-C Peak Torque-6.6 in-oz Max. Stall Current- 1.55 Amps Terminal Res.16.7 ohms @ 25Deg. C. Torque Constant-4.5 oz-in/amp EMF Const.-.03 V/rad/sec. Damping Const.- .0086 ozin/rad/sec.(zero Z source) Total Inertia- .00013 oz-in sec sec. Average Friction torque- .35 oz-in. Electrical Time Const.- .0004 secs. Motor Constant- 1.10 in-oz/(watts↑.5) Max. continuous stalled current- .7 amps. Tachometer Constants- HICO Model 2112-N913 Same specs as for joints 4 and 5. Tachometer runs at 1.01 times motor speed. GEAR RATIOS AND GEARING DETAILS FOR STANFORD ARM September 7,1975 Joints 1 and 2 USM Corp. Harmonic Drives - Model 5C-100-2-BL Reduction Ratio- 100/1 Moment of Inertia (Seen at input)-.007 oz-in sec sec Approx. Average Spring Const.- 130,000 in-lbs/radian Maximum Backlash- 3 minutes of arc . Maximum output torque- 800 in-lbs.(Harmonic Drive limit) Slip clutch set to slip at about 600-800 in-lbs. Joint 3 Motor pinion gear drives rack- 3 inches/turn. Joints 4 and 5 USM Corp. Harmonic Drives- Model 1C-72-2 Reduction Ratio 72/1. Moment of Inertia seen at input end-.00047 oz-in sec.sec. Approx. Average Spring Const- 19,000 in-lbs/radian Maximum Backlash- 5 minutes of arc. Maximum output torque-100 in-lbs.(Drive limit) Joint 6 Two stages of spur gear reduction- 80.77/1 overall Hand One stage of spur gears, and rack and pinion on output. Motor turns 10 turns per inch of hand opening (.5 inch travel for each finger). Notes: Moment of inertia refelects as square of gear ratio. Thus inertia of motor and harmonic drive is seen as 10,000 times numbers given for joints 1 and 2 when measured at output (low speed end). For spur gear joints, assume that gear train inertia is small compared to motor armature inertia. In lieu of accurate numbers for joint inertias, you should estimate them from weights and moment arms. More accurate numbers will be forthcomming.