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How do i calculate the torque needed to rotate the arm horizontally? The only requirement i have is to rotate the arm horizontally in 4 seconds in one full circle.
Horizontally . . . assuming friction is zero . . . so you need to factor in rotational momentum.Basically its acceleration of a mass about a point, similar to what you learn in physics (swinging a ball tied to a string, etc.). So you want to know the torque required to accelerate a mass at X length to travel 360 degrees in Y time?
Since i'm doing my final year thesis (degree) in this robot arm, the point mass method you given me, is it sufficient enough for my thesis report?
In terms of motor selection you are ok with what you got.Did you calculate for sagging? Meaning if you have the arm stretched out carrying some heavy weight, do you know how much it sags? Its a bit complicated at first, but look up stress analysis basics.You might also want to calculate both the forward and inverse kinematics, too.Then you want to calculate how much power each actuator will draw so you can select your power source/system.
I'm designing for high speed robot arm. If my arm accelerate and decelerate very fast, it'll cause the vertical beam to deflect a bit when it stops, isnt it. So should i calculate the force that cause the deflection due to the dynamic motion.
Also, since this is my thesis project, i wanna ask your opinion first whether all this work is enough for a thesis? What kind of problem my robot will face during motion that i should calculate/study? I'm quite blank now...