Establishing an Improved Kane Dynamic Model for the 7-DOF Reconfigurable Modular Robot

Table 1

Joint design parameters.

Designation	Unit	Type 1	Type 2	Type 3
Rated torque	Nm	500	200	110
Peak torque	Nm	1400	800	400
Rotation angle	°	>360	>360	>360
Weight	kg	13	7.5	5.5
Repeated accuracy	°	≤0.002	≤0.002	≤0.002
Maximum angular velocity	rpm	35	75	80
Reduction ratio	1	160/120	160/120	160/120
Nominal voltage	VDC	24/48	24/48	24/48
Electrical interface		RS232; CAN-Bus; USB	RS232; CAN-Bus; USB	RS232; CAN-Bus; USB