SAM10 (Smart Actuator Module 10)
SAM10 is an MD-embedded actuator featuring an optimized hardware design and motor control
algorithms. It is especially used when moderate assistance is needed, such as for the elderly or individuals
with stroke.
Features
- Actuator with Built-in Reducer
- Utilizes a 200W frameless motor
- Compact design with planetary gear inside the frameless motor
- High efficiency and low backlash
- Integrated BLDC Motor Driver
- Intergrated BLDC motor driver with an advanced control technology
- Achieves the world’s highest current control bandwidth of 5kHz
- Embedded advanced control algorithms
- Superior Power Density
- Power density 3-4 times higher than other commercial products
- Specification suitable for various robot applications
- Low impedance design for force-mode control applications
Specification
| Motor |
| Parameter |
angel KIT SAM10 |
Unit |
| Min. |
Typ. |
Max. |
| Power |
50 |
100 |
200 |
W |
| Voltage |
12 |
24 |
48 |
V |
| No-Load Speed |
70 |
150 |
310 |
rpm |
| Rated Speed |
40 |
85 |
180 |
rpm |
| Max Torque |
20 |
Nm |
| Rated Torque |
9.8 |
Nm |
| Rated Current |
6.7 |
A |
| Stall Torque |
(25) |
Nm |
| Stall Current |
19.2 |
A |
| Reducer Type |
Planetary + Spur |
|
| Reduction Ratio |
18.75 |
|
| Weight |
580 |
g |
| Dimensions |
69(W) × 150(L) × 49(H) |
mm |
| Mounting Type |
2-M3, 2-M4 |
|
| Absolute Encoder (Motor/Output) |
13/13 |
bit |
| Incremental Encoder (Motor) |
13 |
bit |
SAM10
| Electrical |
|
Parameter |
Symbol |
Mn. |
| Absolute Max. ratings |
Max. Operating Voltage |
Vmd |
12 |
| Max. Logic Operating Voltage |
Vcc |
4.5 |
| Max. Output Current to BLDC (continuous) |
Imax |
- |
| Electrostatic Discharge Voltage (HBM) |
Vesd |
- |
| I/O Characteristics |
Supply Current for Logic Devices |
Idd |
- |
| I/O Output Low Level Voltage |
Vol |
0 |
| I/O Output High Level Voltage |
Voh |
2.0 |
| I/O Input Low Level Voltage |
Vil |
0 |
| I/O Input High Level Voltage |
Vih |
2.0 |
| Environmental Conditions |
Operating Temperature |
Top |
0 |
| Storage Temperature |
Tst |
-40 |
| Mechanical Dimensions |
Weight |
- |
- |
| Dimensions |
- |
- |
| Mounting Type |
- |
- |
| Control |
| Supported Sensors |
Absolute Encoder |
SSI with 13bit x 2 |
| Incremental Encoder |
RS422 with 13bit x 1 |
| Supported Control Mode |
Speed |
Yes |
| Force |
Yes |
| Homing |
Yes |
| Supported Algorithm |
Impedance Control |
Yes |
| Friction Compensation |
Yes |
| Gravity Compensation |
Yes |
| I/O Interfaces |
ADC |
x 2, 12bit resolution |
| CAN (cascading supported) |
CAN-FD (8M bps) |
| USB for FW upgrade |
Yes |
| Indicators |
LEDs |
1 EA, RGBW |
| ID Setup |
Via DIP switches |
4 bit with IO mapping |
J-Series
J-Series arehigh-power rotary actuators with low mechanical impedance. J-Series have been utilized in
the hip flexor and knee flexor of the WalkON Suit F1.
Features
- Actuator with Built-in Reducer
- Utilizes a 200W frameless motor
- Compact design with planetary gear inside the frameless motor
- High efficiency and low backlash
- Low Mechanical Impedance
- Torque sensor-less actuator
- Model-based non-linear friction compensation
- Linearized dynamics compensation
Specification
| Parameter |
J-Series |
Unit |
| Power |
1000 |
W |
| Voltage |
48 |
V |
| No Load Speed |
115 |
rpm |
| Maximum Torque |
200 |
Nm |
| Rated Torque |
100 |
Nm |
| Torque Constant |
0.16 |
Nm/A |
| Reducer Type |
Planetary |
|
| Reduction Ratio |
24.42 |
|
K-Series
K-Series arehigh-power linear actuators with high back-drivability. K-Series have been utilized in the
ankle and hip ab/adductor of the WalkON SUIT F1.
Linear Actuator for the Ankle (WalkON SUIT F1)
Linear Actuator for Hip Ab/adductor (WalkON SUIT F1)
Features
- Linear Actuator with Ball Screw
- Compact design with a ball screw
- High torque density
- High Back-drivability
- Torque sensor-less actuator
- Back-drivability enhancement using a DOB
Specification
| Parameter |
K-Series |
Unit |
| Ankle |
Hip Ab/adductor |
| Power |
TBA |
TBA |
W |
| Voltage |
TBA |
TBA |
V |
| No Load Speed |
TBA |
TBA |
m/s |
| Maximum Thrust Force |
TBA |
TBA |
N |
| Rated Thrust Force |
TBA |
TBA |
N |
| Thrust Force Constant |
767.36 |
TBA |
N/A |
| Reducer Type |
Ball Screw |
|
| Reduction Ratio |
TBA |
TBA |
M⁻¹ |