Joint Requirements
Axis | Permissible Mass for Motor + Gearbox (kg) | Output Ideal RPM | Output No Load Torque, no SF (Nm) | Output No Load Torque, 1.25x SF (Nm) | Output Max Load Torque, no SF (Nm) | Output Max Load Torque, 1.25x SF (Nm) |
---|---|---|---|---|---|---|
1 | 1.1 | 5-7 | 3.8 | 4.7 | 10 | 12.5 |
2 | 1.5 | 3-4 | 61 | 76 | 126 | 158 |
3 | 1.3 | 6-7 | 18 | 22.5 | 55.5 | 69.3 |
4 | 0.8 | 30 | 1 | 1.25 | 14.1 | 17.6 |
5 | 0.7 | 30 | 1 | 1.25 | 14.1 | 17.6 |
6 | 0.7 | 30 | 1 | 1.25 | 14.1 | 17.6 |
Note: Permissible mass ratings based off of mass of equivalent actuation components in current arm prototype design. RPM range is based of of teleoperation testing of the prototype arm.
Potential Options
This section will review some potential actuation combos that we can use. These were not solutions recommended by sponsors, but options generated by the mechanical team. The following factors listed below are the critical success factors for potential actuation combination options.
- Low total cost
- Low total mass profile
- Reliability throughout range of operating conditions
- Low Backlash
- Technical Feasibility