The following table gives some of the physical characteristics of the RSPR prototype robot:
 

Weight	3 kg
Physical dimensions of enveloping cylinder (diameter, height).	250, 200 mm
Workspace*
Physical dimensions of enveloping cylinder (diameter, height).	250, 200 [mm]
Maximal continuos torque of the rotating links at the gear output	0.5         [Nm]
Maximal force of linear actuators in continuos operation	220         [N]
Resolution of the optical encoders	500         [encoder counts/revolution]
Resolution of the linear actuators	0.0015    [mm/encoder count]
Resolution of the rotating links	0.005      [degree/encoder count]
Rotating links backlash	20’’

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