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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votes
3answers
8k views

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 ...
5
votes
4answers
3k 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 ...
3
votes
2answers
6k views

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!
5
votes
2answers
646 views

Static equilibrium for 7 dof manipulator

I have a 7 dof manipulator (Kuka LBR4+) and would like to calculate the joint torques needed to keep the arm in a static equilibrium. In most books the transposed jacobian is used to map the forces ...
2
votes
2answers
348 views

2Nm small motor

Currently designing a spherical wrist, I want to manipulate a 300gr payload. the design has a 200mm span, so I'm guessing at a 1.1Nm (considering the weight of structure & motors). I've looked at ...
5
votes
1answer
4k views

Will wiring a unipolar stepper to a bipolar stepper driver decrease the holding torque?

I have read that you can wire a unipolar stepper to a bipolar driver, which I have, by ignoring the two extra wires. One concern I have is whether connecting a unipolar stepper to a bipolar driver ...
3
votes
3answers
14k views

Torque in kg/cm?

I was looking up the motor parameters for some stepper motor where they listed the torque of the motor at different current/voltage but the torque they listed was in kg/cm. How is kg/cm even a ...
3
votes
4answers
4k views

How Can I Measure the torque applied by a servo motor?

I believe that there must be a tool that can measure $oz-in$ of torque. I do not trust what the servo manufacturers state on their site for torque values, so I want to test them for myself. Can ...