For those who are using the robot arm calculator
, I added two new features you will like.
First, I added another DOF that rotates about the Z axis at the arm base. This DOF is not affected by gravity, but still needs to be calculated for velocity of the arm. Of course if your robot arm doesn't have it, you can ignore the results.
Which brings me to my next point. Originally the calculator only handled static forces, meaning if it calculated that your motor needs 3Nm, that means it was the amount of force needed to stop the arm from lifting.
Now however it can also calculate dynamic forces, meaning you can tell the calculator the velocity you want your arm to lift the beer can, and it will give you a much more useful dynamic torque.