Add Soft Platforms

roboticslab-uc3m · Sep 18, 2024 · 2f828a8 · 2f828a8
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diff --git a/docs/additional-resources.md b/docs/additional-resources.md
diff --git a/docs/csv/bom.csv b/docs/csv/bom.csv
diff --git a/docs/csv/deprecated/dh-transformations.csv b/docs/csv/deprecated/dh-transformations.csv
diff --git a/docs/csv/deprecated/dh-trunk.csv b/docs/csv/deprecated/dh-trunk.csv
diff --git a/docs/csv/dh-fetch.csv b/docs/csv/dh-fetch.csv
diff --git a/docs/csv/dh-head-transformations.csv b/docs/csv/dh-head-transformations.csv
diff --git a/docs/csv/dh-head.csv b/docs/csv/dh-head.csv
diff --git a/docs/csv/dh-leftArm.csv b/docs/csv/dh-leftArm.csv
diff --git a/docs/csv/dh-leftLeg.csv b/docs/csv/dh-leftLeg.csv
diff --git a/docs/csv/dh-rightArm.csv b/docs/csv/dh-rightArm.csv
diff --git a/docs/csv/dh-rightLeg.csv b/docs/csv/dh-rightLeg.csv
diff --git a/docs/csv/dh-root-head.csv b/docs/csv/dh-root-head.csv
diff --git a/docs/csv/dh-root-leftArm.csv b/docs/csv/dh-root-leftArm.csv
diff --git a/docs/csv/dh-root-leftLeg.csv b/docs/csv/dh-root-leftLeg.csv
diff --git a/docs/csv/dh-root-rightArm.csv b/docs/csv/dh-root-rightArm.csv
diff --git a/docs/csv/dh-root-rightLeg.csv b/docs/csv/dh-root-rightLeg.csv
diff --git a/docs/csv/dynamic_info_absolute.csv b/docs/csv/dynamic_info_absolute.csv
diff --git a/docs/csv/dynamic_info_relative.csv b/docs/csv/dynamic_info_relative.csv
diff --git a/docs/csv/editable/motores.ods b/docs/csv/editable/motores.ods
diff --git a/docs/csv/lengths.csv b/docs/csv/lengths.csv
diff --git a/docs/csv/motores-motores.csv b/docs/csv/motores-motores.csv
diff --git a/docs/csv/motores-protecciones-brazos.csv b/docs/csv/motores-protecciones-brazos.csv
diff --git a/docs/csv/motores-protecciones-piernas.csv b/docs/csv/motores-protecciones-piernas.csv
diff --git a/docs/csv/motores-transmision.csv b/docs/csv/motores-transmision.csv
diff --git a/docs/csv/soft-gripper-current-configuration.csv b/docs/csv/soft-gripper-current-configuration.csv
@@ -0,0 +1,10 @@
+Motor,Passband(current controller),Passband(position controller),Intertia(kgm2 E-7)
+ID1,2200,150,100
+ID2,2000,150,100
+ID3,,, 
+ID4,2000,150,100
+ID5,2200,150,100
+ID6,2000,, 
+ID7,2200,120,60
+ID8,2200,150,100
+ID9,,, 
diff --git a/docs/csv/soft-gripper-motor-C.csv b/docs/csv/soft-gripper-motor-C.csv
@@ -0,0 +1,13 @@
+Terminal resistance phase to phase,6.42 Ω
+Terminal inductance phase to phase,2.75 mH
+Torque constant,30.5 mNm/A
+Speed constant,135 rpm/V
+Speed / torque gradient,12.9 rpm/mNm
+Mechanical time constant,20.2 ms
+Rotor inertia,150 gcm²
+Thermal resistance housing-ambient,6.73 K/W
+Thermal resistance winding-housing,3.92 K/W
+Thermal time constant winding,11.4 s
+Thermal time constant motor,296 s
+Ambient temperature,-40...+100 °C
+Max. winding temperature,+125 °C
diff --git a/docs/csv/soft-gripper-motor-MD.csv b/docs/csv/soft-gripper-motor-MD.csv
@@ -0,0 +1,12 @@
+Bearing type,keine
+Max. speed,10000 rpm
+Axial play,0 mm; at radial load < 0 N
+-,0 mm; at radial load > 0 N
+Max. axial load (dynamic),0 N
+Max. force for press fits (static),0 N
+(static; shaft supported),0 N
+Max. radial load,0 N; 5 mm from flange
+Number of pole pairs,8
+Number of phases,3
+Number of autoclave cycles,0
+Weight,89 g