Hi Duncan,
Thanks for your answer. This is for the human exo. The loads I would use would be quite small (<1Nm per joint), but change at high frequency (0-100Hz), producing noisy vibrations.
Hi Jonathan, our engineer has passed on these comments:
The motors are definitely able to produce torques in this frequency range. For example, we apply sine wave signals from 1-250 Hz for the open loop testing. The magnitude of the sine waves is in the 1-2 Nm range, so I think that should be no problem. I don’t know what the ramifications of doing this for extended periods of time might be. We apply them for 1-3 seconds at each frequency.
Practically speaking, once the frequency gets up to above ~10 Hz, it really is just a vibration. As it gets higher, it rattles the other components in the robot a fair bit and can be very loud (audible noise). In the region of ~60-90Hz, there are some resonances where it is particularly loud.
Cheers,
Koloman
Thanks Koloman! This all makes sense and is working as intended.
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