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Table 1 Robot arm specification

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
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