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 |