perm filename MSPECS.S[1,VDS]4 blob
sn#176949 filedate 1975-09-08 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00004 PAGES
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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
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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 inoz
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.
Tachomdπer 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 Constsnts- 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.