Spring stiffness
-
hebi_newbie
- Posts: 34
- Joined: Wed Oct 02, 2019 4:41 pm
Spring stiffness
What is the spring stiffness / compliance characteristics of the actuators?
Re: Spring stiffness
The stiffness of the actuator depend on the model and hardware revision.
X-Series Actuators prior to early 2019
The stiffness is approximately linear and ranges from about 70 Nm/rad to about 170 Nm/rad. Details are provided in the hardware documentation. This applies to hardware revision A9V/B9V/C9V of the X5, and A12V/B12V of the X8.
X-Series Actuators after early 2019, all R-Series Actuators
The stiffness of these actuators are non-linear where the actuator is more compliant around zero load and stiffer at higher loads. Stiffnesses vary depending on the actuator model and range from about 30-70 Nm/rad around zero load and increases to about 300-1000 Nm/rad at full load. Each actuator is individually calibrated before shipping.
If you have more questions, please contact us at support@hebirobotics.com.
X-Series Actuators prior to early 2019
The stiffness is approximately linear and ranges from about 70 Nm/rad to about 170 Nm/rad. Details are provided in the hardware documentation. This applies to hardware revision A9V/B9V/C9V of the X5, and A12V/B12V of the X8.
X-Series Actuators after early 2019, all R-Series Actuators
The stiffness of these actuators are non-linear where the actuator is more compliant around zero load and stiffer at higher loads. Stiffnesses vary depending on the actuator model and range from about 30-70 Nm/rad around zero load and increases to about 300-1000 Nm/rad at full load. Each actuator is individually calibrated before shipping.
If you have more questions, please contact us at support@hebirobotics.com.