perm filename SPECS.M[1,VDS]1 blob sn#101300 filedate 1974-05-06 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- 300 degrees rotation #4- 600 degrees rotation #5- 220 degrees rotation #6- 600 degrees rotation Hand- 4.5 cm. opening(closes to 0 opening) MAX SPEED EACH JOINT JOINT # UNLOADED .7 KG APPLIED LOAD AT HAND 1 3 rad/sec 2 rad/sec 2 2 rad/sec 1 rad/sec 3 2 rad/sec 1 rad/sec 4 6 rad/sec 3 rad/sec 5 6 rad/sec 3 rad/sec 6 6 rad/sec 3 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 .5 meter. Thus the arm can access points within a 1 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 consists of 5 brake control switches (joints 1-5 have brakes), a joint/mode selector switch, and a joint speed control potentiometer. Individual joints can be selected and moved by the speed control pot. For physically positioning the arm, individual or multiple brakes can be released.The manual controller also has an emergency stop switch. 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 13 kg-cm 25 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 10 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.