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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