Table 2 Specifications of the flexible manipulator

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