Chapter 4 Configuring the Joint Parameters
61
(5) Select the mechanical rigidity, referring to the rigidity reference values listed
below.
Types of Torque Transmission Mechanisms Mechanical Rigidity
Ball screw direct connection 4 to 8
Ball screw with transmission mechanism 3 to 7
Timing belt 3 to 6
Gear or rack & pinion 2 to 6
Other mechanism with low rigidity 1 to 3
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