User manual

Symbol Description Matlab Variable Value
K
gi
Internal gearbox ratio Kgi 14
K
ge,low
Internal gearbox ratio (low-gear) Kge 1
K
ge,high
Internal gearbox ratio (high-gear) Kge 5
m
24
Mass of 24-tooth gear m24 0.005 kg
m
72
Mass of 72-tooth gear m72 0.030 kg
m
120
Mass of 120-tooth gear m120 0.083 kg
r
24
Radius of 24-tooth gear r24 6.35 × 10
−3
m
r
72
Radius of 72-tooth gear r72 0.019 m
r
120
Radius of 120-tooth gear r120 0.032 m
Table 3.2: SRV02 Gearhead Specifications
Symbol Description Matlab Variable Value Variation
K
pot
Potentiometer sensitivity K POT 35.2 deg/V ± 2 %
K
enc
SRV02-E encoder sensitivity K ENC 4096 counts/rev
K
enc
SRV02-EHR encoder sensitivity K ENC 8192 counts/rev
K
tach
Tachometer sensitivity K TACH 1.50 V/k
RPM
± 2 %
Table 3.3: SRV02 Sensor Specifications
SRV02 User Manual 12