Barrett WAM Arm - Appendix Btechnical Specifications

WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 71 of 80
Appendix B Technical Specifications
Kinematics
Total number of joints: 4 or 7
Total number of motors: 4 or 7
Total joint friction: 3 Nm
Mechanical stiffness: 1.5*10
6
N/m
Control stiffness: 5000 N/m
Percent backdrivability: > 95%
Range of Motion
Reach:
4-DOF WAM: 0.90 m to mounting plate
7-DOF WAM: 0.91 m to mounting plate
Joint Positive Joint Limit Negative Joint Limit
1 2.6 (150˚) -2.6 (-150˚)
2 2.0 (113˚) -2.0 (-113˚)
3 2.8 (157˚) -2.8 (-157˚)
4 3.1 (180˚) -0.9 (-50˚)
5 1.24 (71˚) -4.76 (-273˚)
6 1.57 (90˚) -1.57 (-90˚)
7 3.0 (172˚) -3.0 (-172˚)
Weight
4-DOF WAM: 25.6 kg (56.5 lb)
7-DOF WAM: 27.4 kg (60.5 lb)
Maximum Payload
4-DOF WAM: 4.0 kg (8.8 lb) at endpoint
7-DOF WAM: 3.0 kg (6.6 lb) at endpoint
Motor Type
Neodymium Iron Boron, brushless, DC servo motors
Mechanisms
Cable drives integrated with a cable differential
Barrett quick-connect feature for outer-link
Puck™ ultra-miniature motor encoders
Power Requirements
Single phase AC electrical outlet with ground:
Load: 250 W
Phases: Single
Voltage: 100-120 & 200-240 VAC
Frequency: 50/60 Hz
Power Supply
Location: dry, stable surface
Voltage: 48 VDC output
Size: 279.4 x 127 x 63.5 mm (11 x 5 x 2.5 in)
Weight: 2.27 kg (5.0 lb)