Hardware Description

Position Sensors

• in DoF 1-4 motor and joint side encoders
  5th DoF only motor encoder (seems to be some kind of a servo motor)
• motor side encoders: relative, 20 kHz
• joint side encoders: absolute, 10 kHz

Acceleration Sensors

2 dimensional
attached close to the 2nd and 3rd joint
in software: raw sensor readings

Tendons

• plasticity changes over time
• is pre-tensioned
• tendons can support 80 kg, are from some sport
• tendons unlikely to rip, will more likely detach

Power Supply

• delivered with 12V
• can also run with 24V (more power, faster)
• max 30V (may damage motors)

Lights

yellow: connected
blue: output activated

Emergency Switch

• no hardware switch
• support for one!
• simply unplug or interrupt SL (CTL-c)

Payload

• max 2,5 kg

Motors

• joints 1-3: RE30, 24V (310007) Graphite Brushes, 60 Watt
• joints 4: RE25, 24V (118752) Graphite Brushes, 20 Watt
• joint 5: RE16, 24V (118705) Precious Metal Brushes, 3.2 Watt

When it breaks/Maintenance

• hardware: Trommer
• software: Kunz
• warranty information in document (we got an electronic copy)

CAD Data:

• Length & Masses in Document
• Position CoG & Inertia matrices: not available, ask tetra