Applied Bionics and Biomechanics

Research Article

Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-SPS Mechanism

Table 4

Technical parameters of the servomotor.
CategoryParameterCategoryParameter
Motor modelACH-06040DCMaximum torque3.8 N·m
Rated power400 WRated line current2.8 A
Rated speed3000 r/minRated line voltage220 V
Rated torque1.27 N·mNumber of encoder lines2500 PPR