RHINO ROBOTICS LTD.


XR-3 & XR-4 MOTOR ENCODER OPTICS


The Rhino Motor Encoder Disks have the following characteristics. The Small Motor Disks have six segments - three black and three silver. The Large Motor Disks have twelve segments - six black and six silver.

The Optic Boards have two Optics (5 Volt Digital Square Wave) positioned 90 degree out of phase. This allows the board to have four different states. With the Optics positioned like this, it is possible to calculate velocity, acceleration and position.


The Mark III Controller counts three states per revolution on the Encoders for the Small Motors.  The Mark III counts six states per revolution on the Encoders for the Large Motors. 

The Small Motors have a 96:1 Gear Ratio. Therefore, the Mark III Controller would read 288 counts per revolution of the Motor Output Shaft.

The Large Motors with a 65.5:1 Gear Ration generate 393 counts per revolution for the Mark III Controller.


The Mark IV Controller counts twelve states per revolution on the Encoders for the Small Motors. The Mark IV counts twenty-four states per revolution on the Encoders for the Large Motors. 

The Small Motors have a 96:1 Gear Ratio. Therefore, the Mark IV Controller would read 1152 counts per revolution of the Motor Output Shaft.

The Large Motors with a 65.5:1 Gear Ration generate 1572 counts per revolution for the Mark IV Controller.


 

Motor and Gear Ratios

The linkage ratio on each axis of the robot arm has further reduction.

 

Motor

Linkage

Total Reduction

Mark III
Counts Per Degree

Mark III
Theoretical Counts Per Revolution

Mark IV
Counts Per Degree

Mark IV
Theoretical Counts Per Revolution

B

Wrist Rotation

384:1

3.2

1152

12.8

4608

C

Wrist Flex

524:1

8.7

3144

34.9

12576

D

Elbow

524:1

8.7

3144

34.9

12576

E

Shoulder

524:1

8.7

3144

34.9

12576

F

Waist

262:1

4.4

1572

17.5

6288


Robot Motor Additional Specifications

Continuos
Armature
Torque
Theroretical
Peak Stall
Torque
Reference
Voltage
No Load
Current
Theoretical
Peak Stall
Current
Maximum
Gear Box
Load
No Load
Gear Box
Speed
Small
Motor
0.0089 N-M
1.3 oz-in
0.0357 N-M
5.1 oz-in
12-24 volts 0.11 A 1.40 A 0.71 N-M
100 oz-in
86.5 RPM
Large
Motor
65.5
0.0226 N-M
3.2 oz-in
0.110 N-M
15.6 oz-in
12-20 volts 0.20 A 5.54 A 1.24 N-M
175 oz-in
85.3 RPM
SCARA
"E" Large
Motor
127.7
0.0226 N-M
3.2 oz-in
0.110 N-M
15.6 oz-in
12-20 volts 0.20 A 5.54 A 1.24 N-M
175 oz-in
43.8 RPM

 

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RHINO ROBOTICS LTD.

5928 State Route 128
Miamitown, OH 45041-0230
Telephone: 513-353-9772
Fax: 513-353-4040