PROJECT: Precision Underwater Positioner
ENGINEER: M.Brown
Title: Angular motion requirement

SYSTEM SPECIFICATIONS:
Max travel increment: 0.1mm
Max hysteresis: 0.1mm
Relative position: 0.1mm
Relative Accuracy: 1mm
Travel time for 150mm = 60 sec
UNITS:

PROPERTIES & ASSUMPTIONS:
180 degrees =  radians

Given: Angle at vertex

One radian = deg

One degree = rad

Arm length = 
Rotary Axis-1

Rotary Axis-(Pan)

Rotary Axis-(Tilt)

CALCULATION:
Arc Length = S1 & S2

(Alternate check @ arc length = .002 inch)
Therefore if Arc length = 

Gurley
Encoder resolution = 1 arc sec
Harmonic Drives = 1 arc min (special)
Arc minute = 1/60 of a degree
Arc second = 1/3600 of a degree

Maximum tolerance

Motor input speed:

Gear Ratio:
HD Systems
HDUR-25-200

Gear Ratio:
HD Systems
RHS-CC20-160

Motor output speed
HDUR:

Motor output speed
RHS:

For Gear Ratio X

Time:

Direct Motor shaft travel:

motor encoder 16 counts per rev
Travel = 45 deg in one sec
Motor shaft travel 
for HDUR-25