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Table 4 The indicators of the two RCMs

From: Intelligent Modularized Reconfigurable Mechanisms for Robots: Development and Experiment

Indicators RCM (SMA) RCM (electromagnetic)
Mass (kg) 0.15 0.32
Payload (N) 500 500
Tolerance ± 8 mm, ± 7.5° ± 7 mm, ± 10°
Time (s) ≤ 10 ≤ 4
Force ≤ 10 N, 4 N·m ≤ 5 N, 2 N·m
Size Φ114 × 42.95 mm Φ128 × 37.6 mm
Power 2V, 1.5A 24V, 0.8A