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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