From: Dynamic manipulation of unknown string by robot arm: realizing momentary string shapes
Each joint | J1 | J2 | J3 |
---|---|---|---|
Moveable range (deg) | − 10 to + 100 | − 100 to + 100 | − 100 to + 100 |
Maximum speed (deg/s) | 928 | 998 | 3457 |
Total moment of inertia (g cm2) | 88.0 | 34.7 | 13.1 |
Maximum rated torque (Nm) | 9.8 | 3.2 | 0.9 |
Used motor | EC-4pole(200W) | EC-i40(50W) | EC-i40(50W) |
Total reduction ratio | 104 | 61.3 | 17.7 |
Acceleration for motion generation(\(\text {rad/s}^{2}\)) | − 40 to 40 | − 60 to 60 | − 80 to 80 |