Waterloo Steel:Spec Hardware

Barrett WAM Specs:

7DOF WAM:

Motors (*1):

	1-4	5-6	7	BHand	Units
Design Voltage	48	48	48	19.8	V
Back EMF	0.457	0.236	0.067	0.0177	V/rad/sec
No Load Speed	100.218	192.309	569.022	1070	rad/s
Max Continuous Torque	1.490	0.356	0.091	0.0367	Nm
Torque Constant	0.457	0.236	0.067	0.0177	Nm/A
Inductance	4.068	3.918	2.035	1.14	mH
Resistance	3.473	6.213	5.205	4.95	Ohms
Rotor Inertia	9.293E-5	1.472E-5	1.349E-6	1.41E-7	kg*m2
Viscous Friction	7.549E-5	8.899E-6	1.259E-6	0.674E-3	Nm/rpm

Power (*1):

Status	Control	4-DOF	7-DOF
Powered on, no torques	External	18 W	27 W
Active at home position	External	30 W	40 W
Active at worst-case** position, 4kg payload	External	65 W	XXX
Active at worst-case** position, 3kg payload	External	XXX	80 W
Active at worst-case** position, 3kg payload	Internal	XXX	85 W
Active at worst-case** position with BH8-280, 2kg payload	Internal	XXX	120 W
Peak	External	600 W	800 W

Drive Inertias (*6)

Motor Drive Number	Total Drive Inertia at Rotor (kg-m2)	Drive Ratios	Total Reflected Inertia at Output (kg-m2)
M1	0.00011631	42.00	0.205190
M2	0.00011831	28.25	0.094428
M3	0.00011831	28.25	0.094428
M4	0.00010686	18.00	0.034628
M5	0.00001685	9.48	0.001584
M6	0.00001745	9.48	0.001641
M7	0.00000142	14.93	0.000318

Barrett Torque Sensor (*2):

Property	Value
Total Mass	136 g
Dimensions	Diameter
	Height
Sensing Range	Fx, Fy : ‡ 80 N
	Fz : ‡ 135 N
	Tx, Ty : ‡ 2.75 N-m
	Tz : ‡ 2.75 N-m
Sensing Resolution	Fx, Fy : 50 mN
	Fz : 80 mN
	Tx, Ty : 1.5 mN-m
	Tz : 1.5 mN-m
Single-Axis Overload	Fx, Fy : 3000 N
	Fz : 3600 N
	Tx, Ty : 60 N-m
	Tz : 100 N-m
Power	48 V 1.7 W
Characteristics	Output: 12 bits
	Noise: 2 bits (without filtering)
	Rate: 2.5 kHz max
	Hysteresis: <5%

Barrett Hand (*3):

Property	Value
Kinematics	Total fingers: 3
	Fingers which spread: 2
	Joints per finger: 2
	Motors per finger: 1
	Axes of palm spread motion: 2
	Motors for palm spread motion: 1
	Total hand axes: 8
	Total hand motors: 4
Range of Motion	Finger base joint: 140°
	Fingertip: 45°
	Finger spread: 180°
Speed	Finger fully open to fully closed:1.0 sec
	Full 180° finger spread: 0.5 sec
Sensing Resolution	12-bit absolute sensing at each motor with array of Hall sensors
Force	Weight Hand: 980 grams
	Payload 6.0 kg
	Finger Forces (at tip) Active: 15 N
	Passive: 20 N
Properties	- Rare-Earth brushless-DC servo motors
	- Worm drives integrated with proprietary
	cable drive and breakaway clutch
	DC Operation 20-80 VDC
	5/12/250 W idle/typ/max
	AC Operation single-phase, 85-260 VAC, 50/60 Hz
	10/20/300 W idle/typ/max
	Single Cable to Hand 5mx5mm flexible cable
	Dimensions: See Diagram (base is only 25mm tall)
Video:	https://www.youtube.com/watch?v=aDvykgDyEg8

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*1. ref: motor power

*2. ref: TS sensor

*3. ref: BHand Spec

*4. Spec: WAM_UsersGuide_AE-00.pdf

*5. Review Paper Ref: 328784157_Light_Weight_Robot_Arms-An_overview#pf3

*6. WAM Inertial Spec