. | . | Motor force output (N) . | . | Relative load (C/P) . | . | Lifetime N cycles . | . | Lifespan (time) . | . | ||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Device mass (kg) . | Motor mass (kg) . | Group 1 . | Group 2 . | Group 1 . | Group 2 . | Group 1 . | Group 2 . | Group 1 . | Group 2 . | ||||
1 | 0.25 | 353 | 15 | 353 | 15 | 44 061 784 | 3186 | 59 782 779 | 4323 | ||||
10 | 2.5 | 1639 | 147 | 164 | 15 | 4405 976 | 3186 | 12 869 335 | 9307 | ||||
100 | 25 | 7609 | 1472 | 76 | 15 | 440 577 | 3186 | 2770 359 | 20 035 | ||||
1000 | 250 | 35 318 | 14 715 | 35 | 15 | 44 056 | 3186 | 596 370 | 43 132 | ||||
10 000 | 2500 | 163 931 | 147 150 | 16 | 15 | 4405 | 3186 | 128 380 | 92 853 | ||||
100 000 | 25 000 | 760 888 | 1471 500 | 8 | 15 | 441 | 3186 | 27 636 | 199 892 | ||||
1000 000 | 250 000 | 3531 675 | 14 715 000 | 4 | 15 | 44 | 3186 | 5949 | 430 323 |
. | . | Motor force output (N) . | . | Relative load (C/P) . | . | Lifetime N cycles . | . | Lifespan (time) . | . | ||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Device mass (kg) . | Motor mass (kg) . | Group 1 . | Group 2 . | Group 1 . | Group 2 . | Group 1 . | Group 2 . | Group 1 . | Group 2 . | ||||
1 | 0.25 | 353 | 15 | 353 | 15 | 44 061 784 | 3186 | 59 782 779 | 4323 | ||||
10 | 2.5 | 1639 | 147 | 164 | 15 | 4405 976 | 3186 | 12 869 335 | 9307 | ||||
100 | 25 | 7609 | 1472 | 76 | 15 | 440 577 | 3186 | 2770 359 | 20 035 | ||||
1000 | 250 | 35 318 | 14 715 | 35 | 15 | 44 056 | 3186 | 596 370 | 43 132 | ||||
10 000 | 2500 | 163 931 | 147 150 | 16 | 15 | 4405 | 3186 | 128 380 | 92 853 | ||||
100 000 | 25 000 | 760 888 | 1471 500 | 8 | 15 | 441 | 3186 | 27 636 | 199 892 | ||||
1000 000 | 250 000 | 3531 675 | 14 715 000 | 4 | 15 | 44 | 3186 | 5949 | 430 323 |
The scaling of motor force outputs, relative loads (in terms of the ratio of C and P from Equation 2 for the load-life relationship),lifetime number of cycles to failure (using a value of 3 for b in Equation 2), and total lifespan (arbitrary units) for Group 1 motors(M0.67 scaling of force output; Fig. 2) and Group 2 motors(M1.0 scaling of force output; Fig. 3).