perm filename SPECS.S[1,VDS]3 blob sn#102311 filedate 1974-05-14 generic text, type C, neo UTF8

COMMENT ā VALID 00003 PAGES C REC PAGE DESCRIPTION C00001 00001 C00002 00002 SPECIFICATIONS FOR THE STANFORD ARM C00006 00003 C00007 ENDMK Cā; SPECIFICATIONS FOR THE STANFORD ARM LIMITS OF MOTION-EACH JOINT #1- 300degrees total rotation #2- 200 degrees (optional 300 degrees) #3- 75 cm. total linear motion #4- 330 degrees- (optional 600 degrees) #5- 220 degrees #6- 330 degrees- (optional 600 degrees) Hand- 10.5 cm. maximum opening. MAX SPEED EACH JOINT JOINT # UNLOADED LOADED WITH 2.2 KG.- AGAINST GRAVITY 1 3 rad/sec 2 rad/sec 2 1.5 rad/sec 1 rad/sec 3 100 cm/sec 50 cm/sec 4 6 rad/sec 2 rad/sec 5 6 rad/sec 2 rad/sec 6 6 rad/sec 3 rad/sec Hand 8 cm/sec 3 cm/sec MAXIMUM LIFT Within the defined workspace which is a 50 centimeter diameter hemisphere centered on a point on the same plane as the arm base and 40 centimeters from the centerline of the base plate, the arm will lift a rough steel block having a mass of 4.5 kg. MAXIMUM REACH Maximum reach of the arm is about 1 meter. Thus the arm can access points within a 2 meter diameter hemisphere. ACCURACY AND PRECISION Within the defined workspace, the arm has an accuracy of 5 millimeters and a repeatability of 2 mm when using potentiometer calibration tables and 12 bit resolution a/d. With encoders on the first three joints, the accuracy is 2.5 mm and the repeatability is 1 mm. Resolution is equal to the repeatability. OTHER DETAILS The arm runs on 120vac supply voltage.A 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 (8 bits min.). A cable from the arm provides the feedback signals to the computer and/or manual controller. This cable also powers all the motors and brakes. For the potentiometers and tachometers a reference power supply and a minimum of a 16 channel, 12 bit a/d is required. For the encoders, a quadrature decoder and up-down counter for each encoder is required.The encoder electronics interface directly to the i/o buss. TORQUE, FORCE AND DUTY CYCLE LIMITS JOINT# MAX.CONTINUOUS TORQUE MAX.TORQUE(10%DUTY CYCLE-MAX. 10 SECS) 1 200 kg-cm 400 kg-cm 2 400 kg-cm 800 kg-cm 3 3.2 kg 7 kg 4 35 kg-cm 70 kg-cm (1 kg-cm approx. equals 1 in-lb) 5 35 kg-cm 70 kg-cm 6 10 kg-cm 20 kg-cm Hand 2.3 kg 4.5 kg NOTE: All figures mentioned here are approximate. They are supposed to be conservative numbers, but are not guaranteed specifications.