Harmonic Drive FHA Series, Manual

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Appendix 1 Unit conversion
(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
(7) 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