ROBOT ARM Torque Calculation

[justin9490]

Hello All,
I am designing my first robot.

I have calculated the torque based on this formula T=Fxd +n....., But i have a doubt. can i select the gearbox based on this torque? I think this torque is required torque to rotate the arm from zero rpm. But my robot arm is moving in 15Rpm. How can i calculate the torque needed to stop the arm while moving in 15Rpm?

Many Thanks,
Justin.

 

[SwinnyGG]

Gearbox forces for robots are controlled by the required accelerations. Speeds mean very little.

15 RPM is meaningless without knowing how fast you want to ramp to that speed, and how fast you want to ramp back to zero.

 

[tygerdawg]

Torque required is "peak torque" which is torque required to accelerate / decelerate to/from speeds, plus all the other torques needed for friction, gravity, etc.

It all starts with Torque = (mass moment of inertia) x (angular acceleration) [T = Jα]

Angular Acceleration = (Change in Angular Velocity) / (Change in Time) [α ≈ ΔV/ΔT]

TygerDawg
Blue Technik LLC
Virtuoso Robotics Engineering

http://www.bluetechnik.com