Harmonic Drive RSF supermini Series, Manual

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Appendix 1 Conversion of unit
-Appendix 1-2 –
(6) Angle
SI unit rad Unit Deg. Min. Sec.
Coefficient 0.01755 2.93x10
-4
4.88x10
-6
Unit Deg. Min. Sec.
Coefficient 57.3 3.44x10
3
2.06x10
5
SI unit rad
(7) Angular speed
SI unit rad/s Unit Deg./s Deg./min r/s r/min
Coefficient 0.01755 2.93x10
-4
6.28 0.1047
Unit Deg./s Deg./min r/s r/min
Coefficient 57.3 3.44x10
3
0.1592 9.55 SI unit rad/s
(8) Angular acceleration
SI unit rad/s
2
Unit Deg./s
2
Deg./min
2
Coefficient 0.01755 2.93x10
-4
Unit Deg./s
2
Deg./min
2
Coefficient 57.3 3.44x10
3
SI unit rad/s
2
(9) Torque
SI unit Nm Unit kgfm lbft lbin ozin
Coefficient 9.81 1.356 0.1130 7.06x10
-3
Unit kgfm lbft lbin ozin
Coefficient 0.102 0.738 8.85 141.6 SI unit Nm
(10) Moment of inertia
SI unit kgm
2
Unit kgfms
2
kgfcms
2
lbft
2
lbfts
2
lbin
2
lbins
2
ozin
2
ozins
2
Coefficient 0.102 10.2 23.73 0.7376 3.42x10
3
8.85 5.47x10
4
141.6
Unit kgfms
2
kgfcms
2
lbft
2
lbfts
2
lbin
2
lbins
2
ozin
2
ozins
2
Coefficient 9.81 0.0981 0.0421 1.356 2.93x10
-4
0.113 1.829x10
-5
7.06x10
-3
SI unit kgm
2
(11) Torsional spring constant, moment of rigidity
SI unit Nm/rad
Unit kgfm/rad
kgfm/arc min
kgfm/Deg. lbft/Deg. lbin/Deg.
Coefficient 0.102 2.97 x10
-5
1.78x10
-3
0.0129 0.1546
Unit kgfm/rad Kgfm/arc min kgfm/Deg. lbft/Deg. lbin/Deg.
Coefficient 9.81 3.37 x10
4
562 77.6 6.47
SI unit Nm/rad