perm filename SPECS.M[1,VDS] blob sn#103702 filedate 1974-05-24 generic text, type C, neo UTF8

COMMENT ā VALID 00003 PAGES C REC PAGE DESCRIPTION C00001 00001 C00002 00002 SPECIFICATIONS FOR THE MODEL M.I.T. ARM C00007 00003 C00008 ENDMK Cā; SPECIFICATIONS FOR THE MODEL M.I.T. ARM LIMITS OF MOTION-EACH JOINT (MINIMUM TRAVEL) #1- 300 degrees rotation #2- 300 degrees rotation #3- 280 degrees rotation #4- 600 degrees rotation #5- 210 degrees rotation #6- 600 degrees rotation Hand- 4.5 cm. opening(closes to 0 opening) SPEED,PEAK SPEED OF JOINT WILL BE AT LEAST THESE VALUES. JOINT # UNLOADED .7 KG APPLIED LOAD AT HAND 1 4 rad/sec 2 rad/sec 2 2 rad/sec 1 rad/sec 3 3 rad/sec 1.5 rad/sec 4 6 rad/sec 3 rad/sec 5 6 rad/sec 3 rad/sec 6 8 rad/sec 4 rad/sec Hand 10 cm/sec 5 cm/sec MAXIMUM LIFT Within the defined workspace which is a 20 centimeter diameter hemisphere centered on a point on the same plane as the arm base and 20 centimeters from the centerline of the base plate, the arm will lift a rough steel block having a mass of 1.4 kg. MAXIMUM REACH Maximum reach of the arm is about .45 meters.Thus the arm can access points within a .9 meter diameter hemisphere. ACCURACY AND PRECISION Within the defined workspace, the arm has an accuracy of 3 millimeters and a repeatability of 1.5 mm when using potentiometer calibration tables and 12 bit resolution a/d. Resolution is equal to the repeatability. OTHER DETAILS The arm runs on 120 vac. A built in power supply provides + and- 30 vdc for the servo motors and brakes.The seven d.c. motors are controlled through linear current amplifiers which require a +- 10 volt signal range from a DAC ( 7 channels of 8 bits min.). A single cable interfaces the arm to the electronics package. Another cable interfaces the electronics package to the computer interface, and a third cable connects the electronics package to the hand held manual controller/mode select unit. For the potentiometer and tachometer computer interface a reference power supply and a minimum of a 16 channel, 12 bit a/d with a +- 10 vdc range is required. The manual controller has 5 brake control switches (joints 1-5 have brakes), a joint/mode selector switch, and a joint speed control pot to select and move individual joints. TORQUE, FORCE AND DUTY CYCLE LIMITS JOINT# MAX.CONTINUOUS TORQUE MAX.TORQUE(10%DUTY CYCLE-MAX. 10 SECS) 1 40 kg-cm 80 kg-cm 2 40 kg-cm 80 kg-cm 3 20 kg-cm 35 kg-cm 4 5 kg-cm 10 kg-cm (1 kg-cm approx. equals 1 in-lb) 5 5 kg-cm 10 kg-cm 6 3 kg-cm 8 kg-cm Hand .3 kg. 4.5 kg NOTE: All figures mentioned here are approximate. They are supposed to be conservative numbers, but are not guaranteed specifications.