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C00002 00002			SPECIFICATIONS FOR THE MODEL M.I.T. ARM
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		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.