LENGTH, VELOCITY, PAYLOAD AND MOTOR CALCULATIONS

By Peter Carpi

ENDPOINT VELOCITY CALCULATIONS

Endpoint velocities in m/s

Gearbox

RPM

RPS

Rad/s

8"

10"

12"

16"

20"

218.420

28.161

0.469

2.949

1.498

1.798

2.097

2.697

3.296

425.930

14.441

0.241

1.512

0.768

0.922

1.076

1.383

1.690

728.080

8.448

0.141

0.885

0.449

0.539

0.629

0.809

0.989

1419.800

4.332

0.072

0.454

0.230

0.277

0.323

0.415

0.507

SHOULDER MOTOR CALCULATIONS

ELBOW MOTOR CALCULATIONS

Links(in)

Req. Torque

Gearbox

T for Acc.

Links(in)

Req. Torque

Gearbox

T for Acc.

8

678.4

425.9

543.933

8

422.4

218.4

204.408

8

678.4

728.1

1411.247

8

422.4

425.9

799.933

10

848

425.9

374.333

10

528

218.4

98.808

10

848

728.1

1241.647

10

528

425.9

694.333

12

1017.6

425.9

204.733

12

633.6

425.9

588.733

12

1017.6

728.1

1072.047

12

633.6

728.1

1456.05

16

1356.8

728.1

732.847

16

844.8

425.9

377.533

16

1356.8

1419.8

2718.026

16

844.8

728.1

1244.85

20

1696

728.1

393.647

20

1056

425.9

166.333

20

1696

1419.8

2378.826

20

1056

728.1

1033.65

GRIPPER MOTORS' CALCULATIONS

Links(in)

Weight(lbs)

Req. Torque

Payload(lbs)

Gearbox

Total Torque

Torque for Acc.

4

0.3

137.6

2

218.4

626.808

489.208

4

0.3

265.6

4

218.4

626.808

361.208

4

0.3

393.6

6

218.4

626.808

233.208

SHOULDER MOTOR

Payload(lbs)

Required T

Output T

Gear Ratio

New Output

T For Acc

assumptions made:

2

1356.8

626.808

5

3134.04

1777.24

Gripper is 4" long

4

1868.8

626.808

5

3134.04

1265.24

2.87 oz cont. output torque

6

2380.8

626.808

5

3134.04

753.24

2lb payload

6

2380.8

626.808

6

3760.848

1380.048

2lbs for each link

Link of 16"

218.4:1 gearbox ratio

ELBOW MOTOR

Payload(lbs)

Required T

Output T

Gear Ratio

New Output

T For Acc

2

844.8

626.808

3

1880.424

1035.624

4

1356.8

626.808

3

1880.424

523.624

6

1868.8

626.808

3

1880.424

11.624

6

1868.8

626.808

4

2507.232

638.432