DrRobot Jaguar Guia do Utilizador descarregar pdf (Página 20)

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V.19.01.12

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Powertrain (motor, speed-reducer and encoder)

The following specifications are defined at the output shaft after speed-reduction, including the gearbox and /or

pulley system.

Arm shaft

Track-arm motor (1 unit) DC motor with steel gearbox

Motor rated voltage 24V

Motor rated current 2.75A

Motor max current 16A

Shaft rated speed 19RPM

Shaft rated torque 92Kg.cm

Shaft encoder resolution 1083 counts per revolution

Drive track shaft

Track-wheel motors (2 units) DC motors with steel gearbox

Motor rated voltage 24V

Motor rated current 2.75A

Motor max current 16A

Shaft rated speed 170RPM

Shaft rated torque 14.5Kg.cm

Shaft encoder resolution 1227.4 counts per revolution *

*Before pulley-belt speed reduction (34:20), the motor shaft encoder resolution is 722 counts per revolution.

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