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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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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 (...
Atharva's user avatar
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2 votes
0 answers
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McKibben artificial muscles and the 400:1 ratio

I was recently reading that those artificial muscles had the highest power/weight ratio while electric motors only have a ratio of less than 100:1. As electrical engineer I have never worked with ...
Mehdi's user avatar
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2 votes
1 answer
256 views

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 ...
Ramses Estay's user avatar
1 vote
0 answers
11 views

Issues with Torque Distribution in State-dependent Differential Riccati Equation (SDRE) Controller for 4W SSMR Trajectory Tracking

I am currently working on implementing a State-dependent Differential Riccati Equation Controller (SDRE) to track the trajectory of a 4-wheel skid steer mobile robot (SSMR), where torque serves as the ...
MUHAMMAD SAQIB's user avatar
1 vote
1 answer
481 views

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 ...
techno's user avatar
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1 vote
0 answers
231 views

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-...
Saurav Kulkarni's user avatar
1 vote
0 answers
42 views

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 ...
Akshay Kumar's user avatar
1 vote
0 answers
232 views

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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1 vote
0 answers
1k views

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 ...
Anas Albakri's user avatar
1 vote
0 answers
84 views

Torque control in eye-in-hand visual servoing

In most papers about IBVS the camera velocity is computed and then used as a pseudo-input for the manipulator. (e.g. this one) Is there any work in which the dynamic Lagrange model $H(q) \ddot q +C(q,\...
Controller's user avatar
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How does joint torque varies wrt joint velocities in Recursive Newton Euler algorithm?

I'm currently working on solving the inverse dynamics of a 6-axis articulated robot, similar to the UR5, using the recursive Newton-Euler algorithm. I'm very confused with the results I'm getting, as ...
Vishaal's user avatar
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What other BLDC form factors are out there and similar to Pancake style BLDCs?

What other form factors of BLDC motors are there which I should consider? I need to try to stay as compact as possible in at least one axis (like is accomplished by a pancake motor). I specifically ...
tniles's user avatar
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0 answers
20 views

Small 6 Axis Force Torque Sensor

currently I need to install an suitable 6 Axis Force Torque Sensor on my Robotic arm. It has to be small beacause it will be mounted on this Robot: https://www.wlkata.com/en-de/pages/pg-mirobot-intro ...
DomiBlack2k's user avatar
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Active suspension with BLDC motor

I think about using BLDC motors for an active offroad-robotic suspension. I want the robotic platform to be parallel to the ground as much as possible and saw some videos where BLDC motors were used ...
simons's user avatar
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General Questions About Joint Control (Gazebo & ROS2)

There are some separate questions about the Gazebo and ROS 2. When I apply force/torque to a link about its joint in Gazebo simulation by hand, it behaves different than the one that is controlled ...
Selim's user avatar
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Choosing the right BLDC motor and gearbox

I'm having a trouble understanding how to choose the right BLDC motor and gearbox combo for my final project of engineering school. here are the knowns I have gathered so far: gearbox and motor combo ...
T.A's user avatar
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1 answer
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Applying raw torques to joints in Gazebo simulation

I have a 7dof arm that I want to simulate, and the experiment requires me to be able to apply torques to the 7 servomotors (actuators) in the simulation. I would like to know how I can set up "...
Priyam Panchal's user avatar
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82 views

How do you get the force acting from the first robot link on the second robot link knowing the forces and moments in the base of the robot?

Inverse dynamics (ID) is the concern of finding the required joint forces from a specification of the joint positions, velocities, and accelerations. In the figure bloew, the ID problem would be the ...
deralbert's user avatar
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0 answers
44 views

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 ...
X Builder's user avatar
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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 ...
raaj's user avatar
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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 ...
andrestoga's user avatar