Axis | Motor | Hall Sensor | Gearbox | Total Reduction | Expected Backlash [º] | Encoder Model | Encoder Location |
|---|---|---|---|---|---|---|---|
1 | MAXON #642221 | Yes | Worm Gear/Worm Wheel | 60:1 | 0.36 | RLS #BR10SPC14B12CD00 RLS Orbis Encoder with Magnetic Actuator, SPI Slave | Joint Output / Post Reduction |
2 | MAXON #642221 | Yes | Harmonic Gearbox https://catalog.gamweb.com/catalog3/d/gam/?c=products&cid=gsl-cs-a-b&id=GSL-CS-020-120-A | 120:1 | ~0 (0.5 arcmin) | BROADCOM# AEAT-6012-A06 https://www.broadcom.com/products/motion-control-encoders/magnetic-encoders/aeat-6012-a06 | Joint Output / Post Reduction |
3 | NANOTECH #DB59L024035R-A NEMA 23, 172W, 24V BLDC Motor | Yes | Planetary Gearbox https://us.nanotec.com/products/2686-gp56-s2-62-sr PLUS Belt Drive, 56:18 ratio | 193.91556 apologies for the weird ratio | 0.5 | BROADCOM# AEAT-6012-A06 https://www.broadcom.com/products/motion-control-encoders/magnetic-encoders/aeat-6012-a06 | Joint Output / Post Reduction |
4 | MAXON #651614 | Yes | Planetary Gearbox | 156:1 | 1 | RLS #BR10SPC14B12CD00 RLS Orbis Encoder with Magnetic Actuator, SPI Slave | Joint Output / Post Reduction |
5 | MAXON #651614 | Yes | Planetary Gearbox | 156:1 | 1 | BROADCOM# AEAT-6012-A06 https://www.broadcom.com/products/motion-control-encoders/magnetic-encoders/aeat-6012-a06 | Joint Output / Post Reduction |
6 | MAXON #651614 | Yes | Planetary Gearbox | 156:1 | 1 | BROADCOM# AEAT-6012-A06 https://www.broadcom.com/products/motion-control-encoders/magnetic-encoders/aeat-6012-a06 | Joint Output / Post Reduction |
Expected Maximum Current Draw
Axis | Estimated Max Output Torque | Expected Efficiency | Total Ratio | Motor Constant (nM/A) | Motor Current |
|---|---|---|---|---|---|
1 | 12.5 | 0.34 | 60 | 0.113 | 5.422522991 |
2 | 158 | 0.85 | 120 | 0.113 | 13.70813812 |
3 | 69.3 | 0.817 | 193.91556 | 0.05 | 8.748397645 |
4 | 17.6 | 0.72 | 156 | 0.152 | 1.030889189 |
5 | 17.6 | 0.72 | 156 | 0.152 | 1.030889189 |
6 | 17.6 | 0.72 | 156 | 0.152 | 1.030889189 |
End Effector | 0.303 | 1 | 1 | 0.152 | 1.993421053 |