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C00002 00002			SPECIFICATIONS FOR THE MODEL M.I.T. ARM
C00007 00003	
C00008 ENDMK
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		SPECIFICATIONS FOR THE MODEL M.I.T. ARM

LIMITS OF MOTION-EACH JOINT (MINIMUM TRAVEL)
#1- 300 degrees rotation
#2- 300 degrees rotation
#3- 300 degrees rotation 
#4- 600 degrees rotation
#5- 220 degrees rotation
#6- 600 degrees rotation
Hand- 4.5 cm. opening(closes to 0 opening)

MAX SPEED EACH JOINT
JOINT #      UNLOADED         .7 KG APPLIED LOAD AT HAND
1		3 rad/sec	2 rad/sec
2		2 rad/sec 	1 rad/sec
3		2 rad/sec 	1 rad/sec
4		6 rad/sec	3 rad/sec
5    		6 rad/sec	3 rad/sec
6		6 rad/sec	3 rad/sec
Hand 		10 cm/sec	5 cm/sec

MAXIMUM LIFT
	Within  the  defined  workspace  which  is  a  20  centimeter
diameter hemisphere centered on a point on the same plane as  the arm
base and 20 centimeters from the centerline of the  base  plate,  the
arm will lift a rough steel block having a mass of 1.4 kg.

MAXIMUM REACH
	Maximum reach of the arm is about .5 meter.  Thus the arm  can
access points within a 1 meter diameter hemisphere.

ACCURACY AND PRECISION
	Within the defined  workspace, the arm  has an accuracy  of 3
millimeters  and a repeatability  of 1.5 mm  when using potentiometer
calibration tables and 12 bit resolution a/d. Resolution is  equal to
the repeatability.

OTHER DETAILS
	The arm runs on  120 vac. A built in power  supply provides +
and- 30 vdc for the servo motors and brakes.The seven d.c. motors are
controlled through linear  current amplifiers which  require a +-  10
volt signal range from  a DAC ( 7 channels of 8  bits min.). A single
cable  interfaces the arm to the  electronics package.  Another cable
interfaces the electronics package  to the computer interface,  and a
third cable connects the  electronics package to the hand held manual
controller/mode select  unit.
For the  potentiometer and  tachometer computer
interface a reference power supply and a minimum of a 16  channel, 12
bit a/d with a +- 10 vdc range is required. 
	The manual  controller consists  of 5 brake  control switches
(joints  1-5 have brakes), a joint/mode  selector switch, and a joint
speed control potentiometer.   Individual joints can be  selected and
moved by the speed control  pot.  For physically positioning the arm,
individual or multiple brakes  can be released.The manual  controller
also has an emergency stop switch.

TORQUE, FORCE AND DUTY CYCLE LIMITS 
JOINT#		MAX.CONTINUOUS TORQUE	MAX.TORQUE(10%DUTY CYCLE-MAX. 10 SECS)
1		40 kg-cm		80 kg-cm
2		40 kg-cm		80 kg-cm
3		13 kg-cm		25 kg-cm
4		5 kg-cm			10 kg-cm    (1 kg-cm approx. equals 1 in-lb)
5		5 kg-cm			10 kg-cm             
6		3 kg-cm			10 kg-cm
Hand		.3 kg. 			4.5 kg

NOTE: All figures mentioned here are approximate.   They are supposed
to  be conservative numbers,  but are not guaranteed specifications.