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3 SPECIFICATIONS
Table 3.1, lists and characterizes the main parameters associated with the SRV02 2 DOF Robot module. Some of
these parameters are used in the mathematical model.
Symbol
M
lk
M
b
L
b
J
b,og
J
b,piv
J
eq,linkage
J
eq
Description
Mass of four-bar linkages
Mass of single link
Length of link
Link moment of inertia about cog.
Link moment of inertia about pivot.
Equivalent moment of inertia of 4-bar
linkage.
Equivalent moment of inertia of 4-bar
linkage including motor inertia.
2 DOF Robot Overall Dimensions
2 DOF Robot Total Mass
Table 3.1: 2 DOF Robot system specifications.
Value
Unit
0.335
kg
0.065
kg
0.127
m
8.74 × 10
05
2
kg-m
4.41 × 10
04
2
kg-m
1.49 × 10
3
2
kg-m
3.59 × 10
3
2
kg-m
40 x 30 x 20
cm
4.0
kg
2DROBOT User Manual
6
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