# Tag Info

Accepted

### Simple equation to calculate needed motor torque

How quickly do you want to go from stopped to 10rpm? This will define your angular acceleration. Regarding calculations, first you should convert to standard units, so meters instead of centimeters ...
• 14.6k
Accepted

• 4,326

### Dynamic torque simulation for a 6 DOF robotic arm

The dynamics of robotic arms are fairly complex, especially when there are more than three joints to consider. The problem is that the movement of each joint moves all the links beyond it, which can ...
Accepted

### What types of actuators do these industrial bots use?

Actuation is a complex subject that cannot be reduces to 1 component alone. It is the interaction of software electronics and mechanics. "Toy" servos tend to incorporate everything in one small ...
• 6,322

### What is the torque/force required to rotate the base of a robot arm?

You need enough torque to overcome friction, and to accelerate the load. If you know the friction torque ($\tau_f$), and the mass moment of inertia along the motor axis ($I$), then the minimum motor ...
• 375

### What servos are suitable for a robot like Boston Dynamics’ Atlas?

The Boston Dynamics’ Atlas robot doesn't actually use servo motors. It uses electrically-powered hydraulic actuation. I saw a presentation by Boston Dynamics' Marc Raibert where (if I remember ...
• 1,009

### No electric motors can handle being stalled for even short periods of time, even at low power. Is this statement true in all cases?

Electric motors designed for stall torque can handle stall torque just fine. One giveaway sign of high stall torque motors is forced cooling (cooling with a powered fan and not just a fan mounted ...
• 6,322

### Suitable gear construction for a robotic extender - plastic?

I've done a couple worm drive designs and I threw the numbers you gave (Assuming sd-spi nylatron gears) into my calculations. I'm using AGMA 6022-C93 Worm gear design guidelines for tooth width and ...
• 4,205

### Suitable gear construction for a robotic extender - plastic?

What's the point of the middle gear? It's not doing anything for you reduction-wise because it's on a different shaft than the larger gear. There's an equation here that should give you the maximum ...
• 14.6k

### Should the therotical parameters match the physical setup constraints when modeling a robot?

If your computed torques are out of the range for your robot, then you are no longer modelling your robot but a different one. You can ignore the torque limits as good as the joint angle limits of ...
• 1,335
Accepted

### 2Nm small motor

First I would like to caution your choice of motor torque. I don't know how you generated the drawing of your wrist, but CAD packages like Inventor or Solidworks can easily generate masses and ...
• 14.6k
Accepted

### Verifying motor selection calculations

I think your Pmotor calculation is correct. The reason for the difference with the CIRC link is in the P=F*v equation they are referring to the linear velocity. Your conversion is converting the ...
• 181

### How can I replace acceleration in the dynamic model of the robot?

Probably I'm missing your point, but the fundamental dynamics equation of a manipulator describes physical relations among quantities irrespective of the particular electronics/mechanics running ...
• 3,490