Industrial Robot/Research Development/Calculations

Encoder

• 10,000 pulses per revolution

• Angular accuracy = (complete circle angle) divided by (total pulses in one revolution)

= 360 / 10,000 = 0.036 degrees = (pi)/5000 rad

Hydraulic Motor and Gearbox

• Gearbox 1

• • Torque = 5000 in-lbs

• • Gear Ratio = 2:1

• • Output Torque = 10,000 in-lbs