Questions tagged [torque]

Torque, moment, or moment of force is the tendency of a force to rotate an object around an axis, fulcrum, or pivot.

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What is the format and required content to define a Joint trajectory using the RoboAnalyzer simulator?

I'm trying to learn how to use the Roboanalyzer simulation tool to model and then display the torques required to pivot a 2 DoF arm. ( [http://www.roboanalyzer.com/][1] ) I see that the tool has a ...
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Understanding the readings of Force Torque sensor based on accuracy and precision

I am working with a 6-axis force-torque sensor to measure the thrust and moments of a model jet engine. I want to understand the significance of the accuracy (measurement uncertainty) and precision (...
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Does torque affect prismatic joints in a gantry robot? If so, how can we reduce this?

I was posed a question based on my project on a gantry robot, "Cancelling torques that affect the prismatic joints can help us choose components with a lower cost which increases the cost-...
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Force sensors output when inclined

So here is the context: I am working on a motorcycle simulator. It consists of a motorcycle frame mounted on different actuators (see picture on the left). In particular, the two actuators at the ...
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Q: Motor sizing for reeling application

I would like to ask for some help. My application is regulation of vertical speed of the camera, which is mounted on winding/unwinding reel. The camera follows the object (which moves vertically). The ...
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Calculating motor Torque and rpm Requirements for Swerve Drive

Swerve drive is an independent steering type of drive system for mobile robots. To illustrate this better, A mobile robot uses 4 motors to drive 4 wheels, so 1 motor/wheel. However, a swerve drive ...
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4-Wheeled Mobile Robot, Motor-Torque, RPM Calculation

I want the torque, rpm of every motor to be used considering certain factors, in a 4 wheeled robot as you see in the picture below. Here are the factors affecting motor specifications that I Had ...
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How to calculate holding and operating torque at the base?

Could anyone please help me with the formula to calculate the operating torque and holding torque at the base to rotate the structure on top of it as shown in image with white arrows? Thank you in ...
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How to calculate operating torque and holding torque of a slew drive for a manipulator arm?

Hope you are doing good and enjoying your weekend. I have a question regarding calculation of torque and tilting moment for a slew drive. Slew drive (motorised) will be used at the base of a ...
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Required motor torque for a small boat

What: We are building a small boat made of a special paper foam soaked in glue and epoxy. It is aproximinatley 40 cm long and 15 cm wide. Very light. We aim to transport a single can of beer at the ...
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Tractive torque calculations for rack & pinion drive vertical lifting

What all factors should be considered to find out the required torque to lift 60kg load body vertically with 4 pinions engaging on rack without any other supports. How much factor of safety should be ...
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Finding torque equation for my robotic arm

I am designing a 5 dof robotic arm, and for that I would like to find a torque equation. However, I am a little confused here: According to me the torque equation for M1 should be l2m2+l3m3+l4m4+l5m5 (...
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Power pack and servo driver for robotic arm?

I have a robotic arm that uses about eight 7.4 volt volt high torque servos. (https://www.servocity.com/2000-series-dual-mode-servo-25-2/) I need to know what Kind of battery system I can use to power ...
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How to choose a servo motor for solar tracking mechanism?

I design a solar tracking mechanisim. You can see the very undetailed representation in the pic. For choosing a servo motor how can I calculate the torque etc?
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Calculate Torques & Forces From Jacobian Matrix

Dear Robotics Stack Exchange, I am trying to calculate the torques and forces for a 2DOF robot. I’m used the partial differentiation method to find the Jacobian matrix. I managed to find the ...
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Torque required to rotate arm with mass at end

I have to calculate the required torque to rotate a point mass of 15N on the end of an 1.2m long arm which I have calculated to be 10kg in mass. The rotation must have a constant angular velocity of ...
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Do hobby servos respond to step inputs with a step in torque?

I'm designing a piston that I need to expand a few cm in <100ms to load energy into a spring-mass system with around a pound of force (as shown below). Based on power specs alone, high-end hobby ...
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Force-torque sensor reading when a robot is stationary

Let's say I have a robot arm with a force-torque sensor on the wrist, between the final motor and the gripper. If the arm and wrist are stationary, then what would the reading on the sensor be? I know ...
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Quadrotor dynamics: How is torque created

I'm a software engineer and I've recently engaged into Robotics field. I've started by a course on Coursera which talks about Aerial robotics and thus quad-rotors. I'm trying to understand how quad-...
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Can I measure torque from this motor by only measuring the current?

I am new to robotics, please forgive/correct any errors. My Project Plan I want to use a PID controlled motor in a human-interface device where I need to measure the user's exerted force on an end ...
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What is the most accurate method to calculate Torque of 5 DOF Robotic arm

I am working for development of a 5 DOF Robotic arm , and I am confused in the Torque calculation This is a 5 Axis revolute Joints Robotic arm , where Motor for 1st axis will rotate the turning table ...
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When not to use pseudoinverse?

I know this equation: $\tau = J^T f$. In my case, the Jacobian $J$ is not square. Is it valid to use the pseudoinverse of $J^T$ to calculate end effector forces $f$ based on joint torques $\tau$? I ...
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Calculate body speed in m/s with weight in the equation?

UPDATE: I have clarified my question for answerers to better understand what I am asking If I have a flywheel, like the one shown in this image, and I know the torque, weight distribution, and weight. ...
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How to convert torque in oz-in into the weight it can withstand?

I am looking at servos to make a robot claw, and I want to make sure the one i am getting can turn under a specific amount of weight. The servos specify their torque in oz-in. I am not sure how to ...
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No electric motors can handle being stalled for even short periods of time, even at low power. Is this statement true in all cases?

We were using a regular POLOLU d.c motor whose stall current is 0.36A. We want to use this motor in a robotic hand where the motor will be stalled while holding the object. We are limiting the current ...
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Determining required torque for DC motor

How to determine the required torque while choosing a DC motor? Here is a simple scenario. Think of a 4WD or 2WD vehicle. The max load the vehicle will have is 100kg. Q1. How do I determine the ...
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Why aren't my 4x 612 RPM motors driving with only 12 lb load?

I have purchased x4 612 RPM actobotics motors. Every time I try to drive the motors on ground, the motors stall, as if the torque was too low to drive. The motor model: servocity.com model #: 638284 ...
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Controlling high torque servo motors with Raspberry Pi

I need to control 10 Standard Servo Motors (operating at 4.8-7V/300mA-1A/2.5kg-5kg torque) in my project. I'm using RPi as my processor and I was looking for a servo driver. I came across PCA9685 16-...
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Counterweight in arm designs

I wonder why most robotic arms use large J2 (shoulder) motors rather than counterweights. What sort of complexity do they add to the design beside increase in overall weight? In fact, rather than ...
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Understanding KGf.CM in Camera Robotic Head Design

I am attempting to design a robotic camera head - however, I am struggling to calculate the torque (in terms of KGf.CM) I will require to rotate the Y (tilt) axis of the head. The motor I intend to ...
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How to calculate what motor I need to move weight

I'm working on a project trying to make some electric roller curtains. I can use 2 motors on this curtain, on each side to lift and pull down the curtain. Pulling down the curtain requires not as much ...
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Singular Configuration - Balanced Wrench F?

I've been asked to show that if a manipular is at a singular configuration, then the End Effector wrench can be balanced without any joint torques. I know that t = J*F where (t = torques, F= end ...
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How is this torque value arrived?

I'm going through this person's torque calculation of a simple crane setup. the servo used has a max torque of 57oz.in: At the top, if Mservo is 34.12oz.in, how is ...
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Rotating a lever with a small servo

I'm trying to rotate a lever link to gently "offload" a load using a servo. Here's a drawing: Here, the red is a lever, yellow pivot and black is the load. To offload, the lever needs to be turned 90 ...
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How to make a diff robot (2 traction wheels front and 2 castor wheels back) to go straight?

I’m developing a differential robot. My wheeled robot has two castor wheels in the back and two driven wheels in the front. The motor controller I’m using can handle two motors each with 90 cpr. Each ...
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Sensing torque of stepper motor

I need to sense the torque of a stepper motor at any given time. I'm planning to tension a wire by using a stepper motor, and in order to keep the wire at a fixed tension I would need to know the ...
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Servo motor torque

I am confused with the torque ratings of servo motors, or I guess it is general while choosing any motor. For example a servo's torque is rated as 10kg-cm, so does that mean it can handle a 100N ...
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Specification calculation for choosing a proper stepper motor for Ball Lead / Screw system

I'm trying to build a motorized stage which moves in one direction as below picture based on this article. Desired characteristic properties are: 1. screw length = 150 mm 2. screw diameter = 14mm ...
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How can a motor be run at higher voltage for longer?

A 12V windshield wiper motor to run at 24V for more speed but near-equal driving force. Testing with a variable DC supply between 21.6V & 26.4V showed the current maxes at 3.72 - 3.90A, as ...
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Torque Disturbance Observer for Manipulator Arms

Is there a tutorial/guide apart from the research papers ( paper 1 and paper 2 ), for implementation of torque disturbance observers on multi-DOF robotic manipulators to determine sudden collision ...
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Jacobian of a 6DOF arm

I have a robot with 6 DOF. I read a lot of tutorial on how to compute the Jacobian, but usually all examples are for planar robots with 2DOF. I don't understand how can I get the Jacobian of a 6 DOF ...
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How to calculate effort/torque values of a joint

I have a robotic arm with 6 DOF. For each joint, I get get the Joint Wrench, which is composed by the force and torque of the parent and child links of the joints. In other works, for joint 1 I can ...
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Calculating torque required to rotate a platform

I am trying to spec out a motor's torque required to rotate a platform about an axis. This diagram makes it better to understand(it's like a rotisserie): Dimensions are in cm: I have an arbitrary ...
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Practically implementing a torque controller

I'm currently working on a robotics project where i have to build a quadruped. i have somewhat finished the designing for the time being and now moving into simulations. I have followed a inverse ...
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What servos are suitable for a robot like Boston Dynamics’ Atlas?

I have seen Boston Dynamics’ robot Atlas do some pretty impressive things, like a backflip, which must put quite large torques on the servomotors. What servos are there that can generate torques like ...
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DJI E310 Thrust Coefficient

I am reading Denis M. Filatov et al.'s paper "Parameters identification of thrust generation subsystem for small unmanned aerial vehicles" (https://www.semanticscholar.org/paper/Parameters-...
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Calculate torque required to rotate and hold a platform

I wish to rotate a rectangular platform about its length. It is attached to a shaft that runs through the length of the platform at width/2. How can I compute the torque of the motor required to ...
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How can I measure the torque a servo motor is applying very precisely?

Is there any cheap way to measure how hard a servo is turning? I am looking to measure changes of about 0.1 oz-in. What are the common ways to measure servo torque, how much do they cost, and how ...
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Increasing Torque by either doubling servos or building a gear box

I'm looking here for suggestions. I have a HS-805BB with Torque (Kg-cm/Oz-in): 24.7/343 @ 6.0 V to rotate a robot body up and down from one side. It seems to me that this servo is always running at ...
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Torque commands for velocity reference motor

I have a controller board for a motor, where I can read the motor current (to transform to torque), the position, the velocity and I can give a velocity command. There is not really a torque mode on ...
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