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# Table 2 Specifications of the flexible manipulator

From: Enhanced vibration control of a multilink flexible manipulator using filtered inverse controller

Servomotor 1 | (Joint 1) | Type | V850-012EL8 |

Rated armature voltage | 80 | V | |

Rated armature current | 7.6 | A | |

Rated power | 500 | W | |

Rated spindle speed | 2500 | rpm | |

Rated torque | 1.96 | Nm | |

Moment of inertia | \(6\times 10^{-4}\) | \(\hbox {kg m}^2\) | |

Mass | 4.0 | kg | |

Servomotor 2 | (Joint 2) | Type | T511-012EL8 |

Rated armature voltage | 75 | V | |

Rated armature current | 2 | A | |

Rated power | 100 | W | |

Rated spindle speed | 3000 | rpm | |

Rated torque | 0.34 | N.m | |

Moment of inertia | \(3.7\times 10^{-5}\) | \(\hbox {kg m}^2\) | |

Mass | 0.95 | kg | |

Servomotor 3 | (Joint 3) | Type | V404-012EL8 |

Rated armature voltage | 72 | V | |

Rated armature current | 1 | A | |

Rated power | 40 | W | |

Rated spindle speed | 3000 | rpm | |

Rated torque | 0.13 | Nm | |

Moment of inertia | \(8.4\times 10^{-6}\) | \(\hbox {kg m}^2\) | |

Mass | 0.4 | kg | |

Encoder | Reduction ratio | 1/100 | P/R |

Spring constant | \(1.6\times 10^4\) | Nm/rad | |

Harmonic drive-joint 1 | Type | CSF-40-100-2A-R-SP | |

Reduction ratio | 1/100 | ||

Spring constant | 23 | Nm/rad | |

Moment of inertia | \(4.50\times 10^{-4}\) | \(\hbox {kg m}^2\) | |

Harmonic drive-joint 2 | Type | CSF-17-100-2A-R-SP | |

Reduction ratio | 1/100 | ||

Spring constant | \(1.6\times 10^{-4}\) | Nm/rad | |

Moment of inertia | \(7.9\times 10^{-6}\) | \(\hbox {kg m}^2\) | |

Harmonic drive-joint 3 | Type | CSF-14-100-2A-R-SP | |

Reduction ratio | 1/100 | ||

Spring constant | \(7.1\times 10^{-5}\) | Nm/rad | |

Moment of inertia | \(3.3\times 10^{-6}\) | \(\hbox {kg m}^2\) | |

Link 1 | Material | Stainless steel | |

Length | 0.44 | m | |

Radius | \(5\times 10^{-3}\) | m | |

Link 2 | Material | Aluminum | |

Length | 0.44 | m | |

Radius | \(4\times 10^{-3}\) | m | |

Strain gauge | Type | KGF-2-120-C1-23L1M2R |