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to much torque robotic arm

Discussion in 'General Electronics Discussion' started by moh, Dec 7, 2009.

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  1. moh

    moh

    1
    0
    Dec 7, 2009
    Hi,




    I was trying to calculate the torque for my robotic arm from societyofrobots website calculator

    Here is the spec

    motor Hitec ,Torque 10 kg/cm

    L1 (Length from shoulder to elbow) 7 inches weight W1 steel frame about 5 g
    L2 (Length from elbow to wrist) 5 inches weight W2 steel frame about 4 g
    L3 (Length from elbow to gripper) 3 inches weight W3 steel frame about 2 g

    W4 object to lift 1kg

    M1 (Shoulder 1 motor ) 25g
    M2 (Elbow 2 motors) 50g
    M3 (gripper 2 motors) 50g

    I want to lift 1kg object

    I left the Joint Rotational Acceleration blank 0

    It is showing about 40kg/cm torque ,Is it correct?

    If it is true ,is there any way around it?.

    I am using arduino board
     
  2. Resqueline

    Resqueline

    2,848
    2
    Jul 31, 2009
    Using metrics instead of inches makes it much easier to assay the calculation:
    (7+5+3)*2.54=15*2.54=38.1cm
    Add the small weight of the motors & arms and you get 40kg*cm of torque trying to lift1kg on a straight arm.

    One way around it is to lift it like you would lift a heavy object yourself; keep shoulder to elbow frame straight down:
    (5+3)*2.54=8*2.54=20.3cm - for the two elbow motors.
    That'll tax the motors, but if you add a spring from shoulder to wrist it can double their lifting capacity.
     
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