A Hyper-redundant Elephant’s Trunk Robot with an Open Structure: Design, Kinematics, Control and Prototype

Chinese Journal of Mechanical Engineering

Table 3 Parameters of control system hardware

Name			Parameter
Industrial PC			Intel Core i7, 8G RAM
Motion control card			DSP processor, FPGA, PCI bus transmission, 8-aixs servo control
Module 1, 2	UPS limb	Servo motor	Power 400 W, rated speed 3000 r/min, rated torque 1.27 N m
	UPS limb	driver	Power 400 W, rated speed 3000 r/min, rated torque 1.27 N m
	PS limb	Servo motor	Power 200 W, rated speed 3000 r/min, rated torque 0.64 N m
	PS limb	driver	Power 200 W, rated speed 3000 r/min, rated torque 0.64 N m
Module 3, 4, 5, 6	UPS limb	Servo motor	Power 100 W, rated speed 3000 r/min, rated torque 0.32 N m
	UPS limb	driver	Power 100 W, rated speed 3000 r/min, rated torque 0.32 N m
	PS limb	Servo motor	Power 100 W, rated speed 3000 r/min, rated torque 0.32 N m