2021-05-10 00:23:48 Forenkazan
Hello
We have multiple XH430-W350-T motors that we are using for a research-based robot. Currently, we are working on a model-based control for this robot. However, we need more information about this motor:
-Is the reflected inertia here (http://en.robotis.com/service/downloadpage.php?ca_id=70d0#), the combined inertia of rotor, gearbox, etc, at the the z-axis of the horn?
-The gear ratio in the emanual is 353.5, is that exact? If not, what are the decimals after .5?
-What is the coefficient of viscous friction of the motor? If not available, how can we determine it?
-What is the armature resistance of the motor? If not available, how can we determine it?
If any of these information cannot be disclosed publicly then we can communicate outside the forum.
Thank you
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2021-05-10 00:23:48 |
| Forenkazan | |
2021-05-10 11:31:41 Will Son
Hi,
Thank you for your inquiry.
- The inertia is the combined inertia of all internal component including the horn as you mentioned.
- The gear ratio is only displayed up to one tenth digit.
- Unfortunately, other constants related to the core motor is strictly not disclosed.
Please contact at support@robotis.com for more discussion about the inquired information as we might consider providing more details based on your project.
Thank you.
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2021-05-10 11:31:41 |
| willson | |
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