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If you are not familiar with the unit of measurement: 1 oz-in = 0.00706 Nm if you are not familiar with torque: 1 Nm torque translates to 1N of force at a radial distance from the shaft of the motor of … As 1N gravitational force corresponds to an approx. 0.1kg weight, 1 Nm torque can lift* 0.1kg weight 1m away from the shaft, or 1 kg weight 0.1m away from the shaft. …

You can approximate the breakaway torque by considering static friction only. … In this case you have to convert the Force to Torque Torque = Force x Lead /2pi. Or the lead screw manufacturer might give directly the constant which links static friction constant to torque. …

Since (I assume) your servos are position controlled (and not torque controlled) delays in commanding them and mechanical tolerances of the assembly may lead to stations where the two servos act against …

Electric motors designed for stall torque can handle stall torque just fine. … Efficiency is not directly related to the stall torque, it is safe to apply the maximum continuous stall torque current to the motor for a prolonged time without any damage. …

I do not think your equation is correct. You should use an established method for writing the equations, like the Recursive Newton Euler Method.

, the weight of the robot is compensates as an offset value on the torque coming from a static model, etc.). … Compensate anything than can be calculated, eg. the static torque needed to hold the robot still as a feed forward controller. …

Part of this is motor torque, the other forces and torques are loading the mechanical structure (and motors down the chain). … If you have followed the Denavit Hartenberg convention in defining the coordinate systems and you have a rotational joint the joint torque is the z component of the torque part either the parent of the …

The weight of the motors is less then the weight of the gears and bearings in the joint. So moving the motors only not that advantageous. Moving the gearboxes can be done, but bearings still need to b …

However, to find the worst case pose for your robot (the one that requires the maximum amount of torque, or produced the highest force on the bearings) is not simple in the dynamic case (when you have … You need to find the worst case load pose in order to be sure that the maximum load on the bearings and maximum torque on your motors does not exceed the maximum allowable forces/torques in the datasheet …

This would lead to the maximum torque of the motor by calculating backwards from the wheel force to the motor torque. … If you consider that this amount of torque has to be applied to the ground also when the maximum velocity of the robot is reached, you have defined the motor. …

and also any $\vec{\tau}$ torque caused by it, if the axis connecting the geometrical center of the sensor (assuming it measures torques relative to its geometrical center) to the centre of gravity of …

In order to simulate dynamics you need a multi-body dynamics simulation software. Matlab-Simulink has SimMechanics toolbox to do this, but many CAD software used to carry out the mechanical design of …

and computed torque It will be not accurate. … Force-Torque sensors: As you mentions, these are expensive. …