HarmonicDrive SHA - Y series, Руководство пользователя

Страница: 45 / 103

1-10 Stiffness
1-33
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
s
The table below shows the averages of T
1
to T
3
, K
1
to K
3
, and θ
1
to θ
2
for each actuator.
Model SHA25Y SHA32Y SHA40Y
Reduction ratio
1:50
1:51 1:80 or
more
1:50
1:51 1:80 or
more
1:50
1:51 1:80 or
more
T
1
Nm 14 29 54
kgf
･
m
1.4 3.0 5.5
K
1
x10
4
Nm/rad
2.5 3.1 5.4 6.7 10 13
kgf
･
m/arc min
0.74 0.92 1.6 2.0 3.0 3.8
θ
1
x10
-4
rad 5.5 4.4 5.5 4.4 5.2 4.1
arc min
1.9 1.5 1.9 1.5 1.8 1.4
T
2
Nm 48 108 196
kgf
･
m
4.9 11 20
K
2
X10
4
Nm/rad
3.4 5.0 7.8 11 14 20
kgf
･
m/arc min
1.0 1.5 2.3 3.2 4.2 6.0
θ
2
x10
-4
rad 15.7 11.1 15.7 11.6 15.4 11.1
arc min
5.4 3.8 3.4 4.0 5.3 3.8
K
3
x10
4
Nm/rad 4.4 5.7 9.8 12 18 23
kgf
･
m/arc min
1.3 1.7 2.9 3.7 5.3 6.8
Model SHA58Y SHA65Y
Reduction ratio 1:81 or more 1:81 or more
T
1
Nm 168 235
kgf
･
m
17 24
K
1
x10
4
Nm/rad
40 54
kgf
･
m/arc min 12 16
θ
1
x10
-4
rad
4.1 4.4
arc min
1.4 1.5
T
2
Nm 598 843
kgf
･
m 61 86
K
2
X10
4
Nm/rad
61 88
kgf
･
m/arc min 18 26
θ
2
x10
-4
rad
11.1 11.3
arc min
3.8 3.9
K
3
x10
4
Nm/rad 71 98
kgf
･
m/arc min 21 29
The table below shows reference torque values calculated for different torsional angle. (Unit: N
･
m)
Model SHA25Y SHA32Y SHA40Y
Reduction
ratio
1:50
1:51 1:80
or more
1:50
1:51 1:80
or more
1:50
1:51 1:80
or more
2 arc min 15 21 31 45 63 88
4 arc min 35 51 77 108 144 208
6 arc min 56 84 125 178 233 342
Model SHA58Y SHA65Y
Reduction
ratio
1:81
or more
1:81
or more
2 arc min 273 360
4 arc min 636 876
6 arc min 1050 1450