Harmonic Drive FHA Mini Series, Manual

Page: 44 / 50

Appendix 2 Unit conversion
FHA-mini
44
(6) Angle
SI system rad Unit Degree Minute Second
Factor 0.01755 2.93x10
-4
4.88x10
-6
Unit Degree Minute Second
Factor 57.3 3.44x10
3
2.06x10
5
SI system rad
(7) Angular speed
SI system rad/s Unit deg/s deg/min r/s r/min
Factor 0.01755 2.93x10
-4
6.28 0.1047
Unit deg/s deg/min r/s r/min
Factor 57.3 3.44x10
3
0.1592 9.55 SI system rad/s
(8) Angular acceleration
SI system rad/s
2
Unit deg/s
2
deg/min
2
Factor 0.01755 2.93x10
-4
Unit deg/s
2
deg/min
2
Factor 57.3 3.44x10
3
SI system rad/s
2
(9) Torque
SI system
N
•
m
Unit
kgf
•
m lb
•
ft lb
•
in oz
•
in
Factor 9.81 1.356 0.1130 7.06x10
-3
Unit kgf
•
m lb
•
ft lb
•
in oz
•
in
Factor 0.102 0.738 8.85 141.6 SI system N
•
m
(10) Moment of inertia
SI system kg
•m
2
Unit kgf
•
m
•
s
2
kgf
•
cm
•
s
2
lb
•
ft
2
lb
•
ft
•
s
2
lb
•
in
2
lb
•
in
•
s
2
oz
•
in
2
oz
•
in
•
s
2
Factor 0.102 10.2 23.73 0.7376 3.42x10
3
8.85 5.47x10
4
141.6
Unit kgf
•
m
•
s
2
kgf
•
cm
•
s
2
lb
•
ft
2
lb
•
ft
•
s
2
lb
•
in
2
lb
•
in
•
s
2
oz
•
in
2
oz
•
in
•
s
2
Factor 9.81 0.0981 0.0421 1.356 2.93x10
-4
0.113 1.829x10
-5
7.06x10
-3
SI system kg
•m
2
(11) Torsional spring constant, moment stiffness
SI system N
•
m/rad
Unit kgf
•
m/rad kgf
•
m/arc min kgf
•
m/deg lb
•
ft/deg lb
•
in/deg
Factor 0.102 2.97x10
-5
1.78x10
-3
0.0129 0.1546
Unit kgf
•
m/rad kgf
•
m/arc min kgf
•
m/deg lb
•
ft/deg lb
•
in/deg
Factor 9.81 3.37x10
4
562 77.6 6.47
SI system N
•
m/rad