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The degrees of freedom of a serial manipulator equals its number of joints. A more general definition can be found on Wikipedia. It is about being able to describe the state (configuration) of the robot (in terms of position) and the length of the vector required to describe the configuration. For a serial kinematic chain the length of the vector equals the ...


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


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My bet is on a PMSM not a stepper, but that cannot be determined from an image. A non-back-driveable mechanism is advantageous, and can reduce the steady state power consumption of a system. It does not necessarily have to be a worm-gear. Regarding shock-absorbers..well a few things have to be considered: Shock absorbers are normally tuned to filter out ...


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SimMechanics has two ways to drive a joint - by angle or by torque. You can give it a position or speed and SimMechanics will auto-calculate the torque required to achieve that setpoint, or you can provide the torque and SimMechanics will auto-calculate what the resulting position change will be. You can simulate the system first by passing in the joint ...


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It is difficult to provide a specific answer due to not knowing details of your design, but consider these factors for the deflection of a beam. They should give you ideas. For a beam supported at the endpoints, with a load in the center, the deflection increases if: The load increases. The distance between endpoints increases. The deflection decreases if ...


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