Table 1 System specifications of the 4-DOFs ECS
Specification item | Unit | Joints | Â |
|---|---|---|---|
Installing posture | Â | Â | Floor mounted |
Construction | Â | Â | Two-parallel link structure |
Degrees of freedom | Â | Â | 4 |
Drive method |  | J1–J4 | Closed loop stepping system |
Operation range | ˚ | J1 | ±45 |
J2 | ±60 | ||
J4 | ±360 | ||
mm | J3 | 160 | |
Maximum speed | rpm | J1, J2, J4 | 3000 |
mm/s | J3 | 50 | |
Resolution | /rev. | J1, J2 | 10,000 |
J4 | 4000 | ||
/mm | J3 | 4000 | |
Entire system’s workspace | cm3 |  | 20378.3 |
Master interface | Â | Â | iNMI |
Sterilization | Â | Â | Not available |