Society of Robots - Robot Forum

Mechanics and Construction => Mechanics and Construction => Topic started by: Mahmoud on August 01, 2010, 11:02:56 AM

Title: calculating torque in robot arm
Post by: Mahmoud on August 01, 2010, 11:02:56 AM

please every one  ???
can any one help me
in robot arm tutorial calculating torque it says that (if J0 was additionally affected by gravity, add the torque required to lift the arm to the torque required to reach the velocity you need) i do not understand why and how. the equation torque = angular acceleration*moment of inertia i think it is for all to  keep the arm stationary and to accelerate the weight being support by an actuator from a static position
 

Title: Re: calculating torque in robot arm
Post by: Admin on August 14, 2010, 08:58:13 PM

Torque is required to rotate a mass, simply because of inertia. (for a non-stationary arm only)

When gravity pulls on the mass, torque is also needed to counter that acceleration.

If your robot arm is rotating on Earth, it'll need to counter both inertia and gravity. So you calculate each individually, then add them up.