Joint Configurations

Axis

Motor

Hall Sensor

Gearbox

Total Reduction

Expected Backlash [º]

Encoder Model

Encoder Location

Axis

Motor

Hall Sensor

Gearbox

Total Reduction

Expected Backlash [º]

Encoder Model

Encoder Location

1

MAXON #642221
60mm Diameter, 200W, 24V BLDC Motor
https://www.maxongroup.us/maxon/view/product/642221

Yes

Worm Gear/Worm Wheel
https://khkgears2.net/catalog5/AG1-60R1
https://khkgears2.net/catalog5/SWG1-R1

60:1

0.36

RLS #BR10SPC14B12CD00

RLS Orbis Encoder with Magnetic Actuator, SPI Slave

https://www.rls.si/eng/orbis-true-absolute-rotary-encoder?partNumbers=BR10SPC14B12CD00%2CBA100AB01AA00

 

Joint Output / Post Reduction

2

MAXON #642221
60mm Diameter, 200W, 24V BLDC Motor
https://www.maxongroup.us/maxon/view/product/642221

Yes

Harmonic Gearbox

GAM #GSL-CS-020

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

https://us.nanotec.com/products/2152-db59l024035r-a

Yes

Planetary Gearbox

https://us.nanotec.com/products/2686-gp56-s2-62-sr

PLUS

Belt Drive, 56:18 ratio

193.91556
(349048:1800)

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
45mm Diameter, 70W, 24V BLDC Motor
https://www.maxongroup.us/maxon/view/product/651614

Yes

Planetary Gearbox
https://www.maxongroup.us/maxon/view/product/203129

156:1

1

RLS #BR10SPC14B12CD00

RLS Orbis Encoder with Magnetic Actuator, SPI Slave

https://www.rls.si/eng/orbis-true-absolute-rotary-encoder?partNumbers=BR10SPC14B12CD00%2CBA120AB02AA00

 

Joint Output / Post Reduction

5

MAXON #651614
45mm Diameter, 70W, 24V BLDC Motor
https://www.maxongroup.us/maxon/view/product/651614

Yes

Planetary Gearbox
https://www.maxongroup.us/maxon/view/product/203129

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
45mm Diameter, 70W, 24V BLDC Motor
https://www.maxongroup.us/maxon/view/product/651614

Yes

Planetary Gearbox
https://www.maxongroup.us/maxon/view/product/203129

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

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