Waterloo Steel:Spec Hardware

Table of Contents

[Last generated: Mon 27 Feb 2023 17:14:53 EST]

• 1. Barrett WAM Specs:
  • 1.1 7DOF WAM:
    • 1.1.1 Motors (*1):
    • 1.1.2 Power (*1):
    • 1.1.3 Drive Inertias (*6)
  • 1.2 Barrett Torque Sensor (*2):
  • 1.3 Barrett Hand (*3):
• 2. Power Table
  • 2.1 Battery Status
    • 2.1.1 LiFePo (Original)
    • 2.1.2 LiPo (Candidate)
  • 2.2 WAM Voltage
    • 2.2.1 WAM Voltage Safty Module
  • 2.3 Other Components Voltage Ranges:

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1. Barrett WAM Specs:

1.1 7DOF WAM:

1.1.1 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

1.1.2 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

1.1.3 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

1.2 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%

1.3 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

2. Power Table

2.1 Battery Status

2.1.1 LiFePo (Original)


• Ref of Chart

2.1.2 LiPo (Candidate)


• Ref of Chart

2.2 WAM Voltage

• The standard WAM system requires an input voltage of 18-90VDC
• 7-DOF ---> Q(no torque): 27W Typ(2kg payload): 45W Peak: 800W
• Provided WAM Standalone Power Supply switches automatically to local voltage standards (100-120 & 200-240 VAC at 50-60Hz)
  • Output: 10A of direct current at 48V.
• The safety module is configured with respect to 48V

2.2.1 WAM Voltage Safty Module

• From safety manual [WAM_UserManual_AH-00.pdf] at pg. 29/80 (4.5.2 Safety Board):

a. SET SAFE 4 (this is necessary; do not skip this step)
b. SET SAFE 5
c. FIND VBUS
d. SET SAFE 0
e. SET VOLTL1 36
f. SET VOLTL2 30
g. SET VOLTH1 54
h. SET VOLTH2 57
i. SET GRPA 1
j. SET GRPB 2
k. SET GRPC 3
l. SAVE
m. RESET
o. GET VOLTL2 (should be 30, else SET and SAVE it again)
p. GET VOLTH1 (should be 54, else SET and SAVE it again)
q. GET VOLTH2 (should be 57, else SET and SAVE it again)
r. GET GRPA (should be 1, else SET and SAVE it again)
s. GET GRPB (should be 2, else SET and SAVE it again)
t. GET GRPC (should be 3, else SET and SAVE it again)

2.3 Other Components Voltage Ranges:

Item	Model	VL	VH	Power	Power_max

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