Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Table 1

The parameters of robot and joint.

Designation	Unit	No. 1	No. 2	No. 3
Rated torque	Nm	480	180	100
Repeated accuracy	degrees	≤0.01	≤0.01	≤0.01
Peak torque	Nm	1200	700	340
Weight	kg	12.8	7.6	5.6
Rotation angle	degrees	≤360	≤360	≤360
Reduction ratio	1	160	160	120
Maximum angular velocity	rpm	34	74	74
Nominal voltage	VDC	48	48	48
Payload	13 kg
Total weight	55 kg
Working radius	1400 mm
Repeat positioning accuracy	±0.02 mm
Degree of freedom	6
TCP maximum speed	1.6 m/s
Ambient temperature	−10°C∼50°C
Electrical interface	USB; RS232; CAN-bus
Power supply	230 V AC 50–60 Hz
Power consumption	Typical operating conditions are approximately 650 W