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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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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Torque calculation for differential drive AGV for turning about pivot position
I am building an AGV to carry a payload of 60 Kg and AGV weight is 60 kg. Currently I am using 60 kg-cm torque stepper motor (1.6 A 12 V) on each wheel of a 4 wheel drive ...
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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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1answer
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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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1answer
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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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1answer
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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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27 views
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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Motor solution for being able to precisely detect location of changes in torque
I am looking to make a robot with a motor that can:
a) Rotate to an arbitrary position very precisely (accurate to about 1/1000 of a rotation)
b) Detect small changes in the torque of what it is ...
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2answers
73 views
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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1answer
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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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Compress a spring with Makebock parts
I would like to build a mechanism with Makeblock parts, which would compress a 10N/mm spring with relative precision (max 200N on 2cm). I have several ideas in mind, but I am unsure which is the best ...
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Creating transfer FNC
im working on controlling a 2 link arm with simulink, and wanted to try torque control.
I've built a trajectory generation function in matlab and it gives me the position that the joint needs to be in ...
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2answers
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How to maximize stall torque of a motor
I'm looking to use 3-phase motor without gearbox for robotics application. It will always work at near stall situation never rotating more than 360deg. I'm looking for arrangement that will produce ...
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Measuring torque of Vex gear shaft - highest accuracy for lowest price [closed]
I am seeking to collect data for my IB Physics IA (internal assessment). My question seeks to establish the relationship between speed and torque by adjusting gear ratios. (I am aware that gear ratios ...
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Transforming position to torque
first question in this forum :D
so i started creating a 2 link robotic arm in SIMULINK and made a function that builds its trajectory (cubic spline) and used it as an input for my joint.
so my input ...
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How to calculate the pull force of scissors?
i want to use a stepper motor to move a brush to a industrial scissor machine to cut material of brushes.
The stepper motor will use a worm gear box to increase torque and smooth movement. The ...
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1answer
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Help with DC Gearmotor Specs
I need help understanding the specs of this RS Pro DC Geared Motor, Brushed, (RS: 238-9670). It has an operating range of 4.5-15V and a nominal voltage of 12V, so does that mean that it provides 0....
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From a linear force actuator that spans multiple links and joints to the equivalent motor torque
I am programming/using a rigid body joint-space dynamics solver for robots in which I want to implement linear force actuators between links with their equivalent torque sources that are 'spanned' by ...
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1answer
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Using brushless motors for very high torque
I'm currently building an robotic arm and I want the elbow joint to be comparable to a human one
But here's the problem, electric linear actuators are too slow and have low torque, same goes with ...
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How do I choose the stepper motor torque for my robotic arm
I'm a communication engineer so my knowledge about robotics is very little.
I know the basic formula of torque T=mgL
in my project I have 2 arms & 2 motors
i used a torque calculator online ...
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2answers
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Robotic arm select servo motors
Hi i´m designing a robotic arm based on this idea of the NOVABOT I only want to change its structural parts by aluminum tubes. In this design 3D model it use the servo hs-311 wish have a max torque of ...
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1answer
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cable-controlled flexion and extension
I'm new, please be gentle :-)
I'd like to control the position of a single-axis joint using one cable for flexion and another for extension.
In many of the anthropomorphic designs I've seen each of ...
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1answer
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Thrust and Torque on Quad Rotor
I am a beginner on Drones. I would like to understand the how each motor contribute to thrust on the whole drone. And what is the direction of torque created on each propeller.
Everywhere I find a ...
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Stepper Motor Torque [duplicate]
Tried searching for this answer in a simple way but can't seem to find the answer..
I have a 3 axis Bipolar Nema 17(Took off my 1st 3d printer =) ) robotic arm(Homemade) and provides 28oz-57oz of ...
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1answer
339 views
Starting and stopping a heavy rotating disc
I am currently working at a project involving a heavy disc rotating around its center. The disc weights around 2 kg and has a radius of 0,25 m. At every angle π/6, there exists smaller ...
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1answer
128 views
Is it possible to control joint torque using the position input and torque feedback?
So I am working with a UR10 manipulator which doesn't have a direct torque interface. However, it provides torque/velocity/position feedback for each joint as well as position/velocity interfaces for ...
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1answer
47 views
Will this have more or less lifting strength
Bit of an engineering question. If a snake robot is 100 cm long, and every 10 cm is another motor. Would the robot lift more weight, the longer/more motors attached to it.. or is lifting ability ...
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1answer
22 views
What method is commonly used in industral manipulators [closed]
Position control versus torque control. What method is commonly used in industral manipulators
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1k views
How to get Max Torque on Robot arm 's Joints (RRR)
Suppose I have a Robot Arm with 3 joint(revolute)( 3 DOF) as shown below , and I'm given
-The ranges of each joint q1,q2,q3
-The lengths of each link L1,L2,L3
-Load on the end effector [Fx Fy M]
...
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2answers
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Permanent Magnet DC Motor Calcuations
I have to determine speed and torque suitable for my combat robot.
I've done some calculations and I need to know whether they're right or not (because they don't seem to be right).
Suppose I have ...
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1answer
1k views
Calculating screw breakaway torque
I'm trying to use motor-sizing tool developed by oriental motor to choose good servo motor for my cnc
The tool requires breakaway torque of my screw as input, I searched online but I got people ...
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2answers
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What is the torque/force required to rotate the base of a robot arm?
Take a look at the following simple example robot arm:
I want to know the torque required on that bottom motor to rotate the arm. Since it's not exactly rotating directly against gravity like the ...
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2answers
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What are some ways to estimate torque/load on a robotic arm joint
My main problem is measuring joint torque/load economically. There are ways to detect the electric current drawn which is proportional to the torque. Since my motor is a BLDC motor, there will be a ...
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3answers
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What types of actuators do these industrial bots use?
I have a particular example robot that interests me:
http://www.scmp.com/tech/innovation/article/1829834/foxconns-foxbot-army-close-hitting-chinese-market-track-meet-30-cent
See first image, the ...
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2answers
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What is the torque transmission efficiency using a bycicle chain/setup for robot?
For this robot the gear attached to the motor is linked to the gear attached to the wheels by a bicycle chain (I am using a bicycle wheel and transmission set as the parts for the robots movements).
...
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1answer
186 views
Which kind of motors and how powerfull should they be for a robotic arm
I am building a robotic arm with these specifications:
1 meter long
approx. 1kg weight
it is made of 4 motors. (2 at the base. One for rotating the whole arm left and right and another one for ...
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3answers
2k views
Is horsepower related to torque in electric motors? [closed]
Is torque related to size or power at all in electric motors? And what about gas motors too?
I have a go kart that is 2.5hp and it's 50cc and its about 1ft x 2ft x 1ft in size. I also see online ...
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1answer
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OpenRAVE output torques and simulation timestep
I'm using OpenRAVE to simulate a quadruped, in order to get an idea of torque requirements.
To get started I made a single DOF, single link pendulum to test controllers etc out on.
I've whipped up ...
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4answers
2k views
Dynamic torque simulation for a 6 DOF robotic arm
I am working on a 6 DOF robotic arm(industrial manipulator). I have the basic structural specs (dimensions, weights etc) for the links and joints with me.
Basically, I want to simulate both static ...
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2answers
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How to further understand the computed torque model controller
For the following controller what do $q_{des}$ and $q_{act}$ stand for? Also, what is the general principle of this controller?
Thanks!
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1answer
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Why do series elastic actuators have more accurate and stable force control?
The other day, somebody was telling me about a robot in their lab, and they mentioned that it has "series elastic" actuators. But after doing a bit of Googling, I'm still not sure as to what this ...
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3answers
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Simple equation to calculate needed motor torque
Suppose I have a DC motor with an arm connected to it (arm length = 10cm, arm weight = 0), motor speed 10rpm.
If I connect a 1Kg weight to the very end of that arm, how much torque is needed for the ...
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3answers
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Is this supposed to be a bearing?
I'm looking at the assembly of a tail rotor that should look like this
original image
I wonder if the "tail output shaft stopper" (circled in red) is meant to be a bearing or just a piece of metal ...
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1answer
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Metal shaft design for a 6mm plastic bevel gear
I have a small POM bevel gear with these dimensions:
It has a 6mm hole for the shaft and a M4 hole for the set screw.
Suppose this bevel gear is meshed with a 45T bevel gear and give a max. output ...
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1answer
132 views
Do these motors really have enough torque to lift 130 pounds
I was looking at these dc motors and I converted the torque to force at a meter distance and I got that two of them should be able to lift over 130 pounds, is this right? http://www.active-robots.com/...
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2answers
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Suitable gear construction for a robotic extender - plastic?
I have a rather simple setup for my robotic extender. The DC motor turns a shaft with a worm on it. The worm connects to a small worm gear (green) which itself has a small gear (red) on the same shaft ...
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1answer
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Attaching a M5 screw shaft to a cog wheel
Does anyone know of a good (low profile) way to attach the threaded (chamfered) end of a M5 screw shaft to a 30MM (30T 1M) plastic cog wheel? Would it be a good idea to widen the shaft hole and just ...
