Harmonic谐波减速机CSF-mini系列
刚性(弹簧常数)
符号 型号 |
5 |
8 |
11 |
14 |
||||||
1U |
1U-F |
1U |
1U-F |
1U |
1U-F |
1U |
1U-F |
|||
T1 |
Nm |
0.075 |
0.29 |
0.80 |
2.0 |
|||||
kgfm |
0.0077 |
0.030 |
0.082 |
0.20 |
||||||
T2 |
Nm |
0.22 |
0.75 |
2.0 |
6.9 |
|||||
kgfm |
0.022 |
0.077 |
0.20 |
0.70 |
||||||
减 速 比 30 |
K1 |
×104Nm/rad |
0.009 |
0.010 |
0.031 |
0.034 |
0.077 |
0.084 |
0.172 |
0.188 |
kgfm/arc min |
0.003 |
0.003 |
0.009 |
0.010 |
0.023 |
0.025 |
0.051 |
0.056 |
||
K2 |
×104Nm/rad |
0.011 |
0.013 |
0.039 |
0.044 |
0.109 |
0.124 |
0.210 |
0.235 |
|
kgfm/arc min |
0.003 |
0.004 |
0.012 |
0.013 |
0.032 |
0.037 |
0.063 |
0.070 |
||
K3 |
×104Nm/rad |
0.012 |
0.016 |
0.046 |
0.054 |
0.134 |
0.158 |
0.286 |
0.335 |
|
kgfm/arc min |
0.004 |
0.005 |
0.014 |
0.016 |
0.040 |
0.047 |
0.085 |
0.100 |
||
θ1 |
×10-4rad |
8.7 |
7.5 |
9.5 |
8.6 |
10 |
9.5 |
12 |
11 |
|
arc min |
3.0 |
2.6 |
3.2 |
3.0 |
3.6 |
3.3 |
4.0 |
3.6 |
||
θ2 |
×10-4rad |
22 |
19 |
21 |
19 |
21 |
19 |
35 |
31 |
|
arc min |
7.5 |
6.4 |
7.3 |
6.6 |
7.4 |
6.6 |
12 |
11 |
||
减 速 比 50 |
K1 |
×104Nm/rad |
0.011 |
0.013 |
0.039 |
0.044 |
0.177 |
0.221 |
0.286 |
0.335 |
kgfm/arc min |
0.003 |
0.004 |
0.012 |
0.013 |
0.053 |
0.066 |
0.085 |
0.100 |
||
K2 |
×104Nm/rad |
0.014 |
0.018 |
0.056 |
0.067 |
0.225 |
0.300 |
0.378 |
0.468 |
|
kgfm/arc min |
0.004 |
0.005 |
0.017 |
0.020 |
0.067 |
0.089 |
0.113 |
0.140 |
||
K3 |
×104Nm/rad |
0.017 |
0.025 |
0.067 |
0.084 |
0.236 |
0.320 |
0.440 |
0.568 |
|
kgfm/arc min |
0.005 |
0.007 |
0.080 |
0.025 |
0.070 |
0.095 |
0.131 |
0.170 |
||
θ1 |
×10-4rad |
6.9 |
5.6 |
7.5 |
6.6 |
4.5 |
3.6 |
7.0 |
6.0 |
|
arc min |
22.4 |
2.0 |
2.6 |
2.3 |
1.6 |
1.2 |
2.4 |
2.0 |
||
θ2 |
×10-4rad |
18 |
14 |
16 |
14 |
9.9 |
7.6 |
20 |
16 |
|
arc min |
6.0 |
4.8 |
5.4 |
4.7 |
3.4 |
3.6 |
6.8 |
5.6 |
||
减 速 比 80 以 上 |
K1 |
×104Nm/rad |
0.015 |
0.020 |
0.072 |
0.090 |
0.206 |
0.267 |
0.378 |
0.468 |
kgfm/arc min |
0.004 |
0.006 |
0.021 |
0.027 |
0.061 |
0.079 |
0.113 |
0.140 |
||
K2 |
×104Nm/rad |
0.018 |
0.027 |
0.080 |
0.104 |
0.243 |
0.333 |
0.460 |
0.601 |
|
kgfm/arc min |
0.005 |
0.008 |
0.024 |
0.031 |
0.072 |
0.099 |
0.137 |
0.179 |
||
K3 |
×104Nm/rad |
0.020 |
0.030 |
0.089 |
0.120 |
0.291 |
0.432 |
0.516 |
0.700 |
|
kgfm/arc min |
0.006 |
0.009 |
0.027 |
0.036 |
0.086 |
0.128 |
0.154 |
0.209 |
||
θ1 |
×10-4rad |
5.0 |
3.7 |
4.1 |
3.2 |
3.9 |
3.0 |
5.3 |
4.3 |
|
arc min |
1.7 |
1.3 |
1.4 |
1.1 |
1.3 |
1.0 |
1.8 |
1.5 |
||
θ2 |
×10-4rad |
13 |
9.2 |
9.8 |
7.7 |
8.8 |
6.6 |
16 |
12 |
|
arc min |
4.4 |
3.1 |
3.4 |
2.6 |
3.0 |
2.3 |
5.4 |
4.2 |