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
C00009 00004		GEAR RATIOS AND GEARING DETAILS FOR STANFORD ARM
C00011 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
			Feb. 22, 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.
	Mecchanical 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.


	Tachometer Constants   (Separate Unit
		
	Output Gradient- 7.0v/1000rpm
	Output impedance 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.


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-5.1oz-in/amp
	EMF Const.-.05 V/rad/sec.
	Damping Const.- .0055 ozin/rad/sec.
	Total Inertia- .00045 oz-in sec sec.
	Average Friction torque- .7 oz-in.
	Electrical Time Const.- .0005 secs.

		
	GEAR RATIOS AND GEARING DETAILS FOR STANFORD ARM
			Feb. 22, 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)

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- 80/1 overall

Hand

	One stage of spur gears, and rack and pinion on output.