The new iteration of the arm test rig will include a rotational torque sensor and the goal is to characterize the motor and maybe add some testing for the gearbox?

The goal is also to tune to the motor controller pos control loop at least the PI part.

The design cycle

Arm simulation → Arm test rig → Arm design finalized and start manufacturing

List of data to measure

• Motor torque at 24v and 30v

Arm test rig project requirement list

• R1.0

  • R1.1

  • R1.2

• R2.0