113

APÉNDICE A

MATERIALES Y DISPOSITIVOS ESTÁNDARES

114

Tabla 1 Motor Maxon EC 45 Plano. [20]

115

Tabla 2 Motor Maxon EC-max 16. [20]

116

Tabla 3 Maxon Reductor Planetario GP 16A. [20]

Datos del Reductor 1 Reducción 4.4 : 1 2 Reducción absoluta 57/13 3 Diámetro máx. del eje del motor mm 2

Números de Referencia 119184 1 Reducción 5.4 : 1 2 Reducción absoluta 27/5 3 Diámetro máx. del eje del motor mm 1,5

Números de Referencia 1 Reducción 2 Reducción absoluta 3 Diámetro máx. del eje del motor mm 4 Número de etapas 1 5 Máx. par en continuo Nm 0,1

6 Máx. par admisible de forma intermitente Nm 0,15

7 Máx. rendimiento % 90 8 Peso g 20 9 Holgura media en vacío ° 1,4

10 Momento de inercia gcm² 0,08 11 Longitud del reductor L1 mm 15,5

117

Tabla 4 Engranes W.M. Berg. [37]

118

Tabla 4 (continuación).

119

Tabla 5 Rodamiento W.M. Berg. [37]

120

Tabla 6 Solenoide Ledex. [18]

121

Tabla 6 (continuación).

122

Tabla 6 (continuación).

123

Tabla 7 Santoprene®. [31]

124

Tabla 7 (continuación).

125

Tabla 7 (continuación).

126

Tabla 7 (continuación).

Tabla 8 Modelos Transwheel. [24]

127

Tabla 9 Tornillos Allen. [9]

128

Tabla 10 Anillo Retén. [9]

129

Tabla 11 Baterías. [32]

130

Tabla 12 Servomotor. [19] S110M Micro Servo

Volts Torque Vel. 4.8 22,203 oz-in 0,1 s/60º

131

Tabla 13 Sorbothane®. [34]

MATERIAL PROPERTIES OF SORBOTHANE® Durometer (Shore 00) Property 30 50 70

Units Notes

Tensile Stregth at break, 83,39 122,61 206,06 psi ASTM D412 92 Bongation at break 582 568 399 % ASTM D412 92 Tensile Elastic Stress at 100% Strain 17,86 25,47 66,18 psi ASTM D412 92 Tensile Elastic Stress at 200% Strain 36,28 54,86 127,02 psi ASTM D412 92 Tensile Elastic Stress at 300% Strain 54,88 80,13 165,95 psi ASTM D412 92 Compression Sel 9,7 6,2 4,5 % ASTM 395 Compressive Stress at 20% Strain 6,4 12 30 psi ASTM D575 91 Compressive Stress at 50% Strain 86,1 105 232 psi ASTM D575 91

Tear Stength 43,62 48,73 65,26 lb/inch ASTM D624 91 Die C Bulk Moduls 2,86 g Pascal Poisson's Ratio 0,5

Static Coefficient of Friction 15,8 10,4 4,1 ASTM D1894 on polished steel

Kinetic Coefficient of Friction 3,3 2,6 2,5 ASTM D1894 on polished steel Densitty 85,5 85 84,9 lb/in3 ASTM D792 Specific Gravity 1,372 1,364 1,363 ASTM D792

Optimum Performance - 20° to - 20°

to - 20°

to F Reduced strength and damping up to 200 F.

Temperature Range +160° +160° +160° Increased spring rate down to glass transition

temperature

Glass Transition -38.7° -37.4° -34.7° C ASTM E1640 94 by Peak Tangent Delta

Flash Ignition Temp. 570° F Self Ignition Temp. 750° F

Flammability Rating with V2 V2 V2 Underwriters Laboratory 94 compatibility

132

Tabla 14 Materiales.

133

Tabla 14 (continuación)

48_APÉNDICE A.pdf49_APÉNDICE A.pdf

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