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Robot Arm Designer v1b: Force and Torque Calculator

This document describes a robot arm design program that calculates the torque requirements at each joint to lift objects of varying masses and positions. It allows the user to input parameters like link lengths and masses, then calculates the torques needed at each joint. The program also demonstrates forward and inverse kinematics by allowing the user to specify joint angles or end positions and solving for the other.

Uploaded by

ganesanmech
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as XLS, PDF, TXT or read online on Scribd
300 views

Robot Arm Designer v1b: Force and Torque Calculator

This document describes a robot arm design program that calculates the torque requirements at each joint to lift objects of varying masses and positions. It allows the user to input parameters like link lengths and masses, then calculates the torques needed at each joint. The program also demonstrates forward and inverse kinematics by allowing the user to specify joint angles or end positions and solving for the other.

Uploaded by

ganesanmech
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as XLS, PDF, TXT or read online on Scribd
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Robot Arm Designer v1b

produced by www.societyofrobots.com
June 9th, 2007 original version
Dec 1st, 2007 updated with velocity and efficiency

about this sheet:


This program will calculate the required torque a servo at each joint must produce for the arm to lift an Object.
To use this program, enter in desired values in the YELLOW boxes, and calculations will be automatically done in r

Force and Torque Calculator


Mass (lbs) Length (in) Center of Mass
Linkage 1 1 5 2.5 note: Fill in the desired robot arm parameters in
Linkage 2 1 4 2 note: If you don’t know the center of mass, estim
Joint 2 1
Object 1

efficiency 90%

Joint 1 Acc 50 Joint 2 Acc 50 deg/s^2

calculating:
Joint 1 Torque 182.464 lbs/in torque for first servo
Joint 2 Torque 26.059 lbs/in torque for second servo

servo HS-255 has 26.878759 lbs/in the servo I am using

Forward Kinematics
For the forward kinematics section, enter in an angle for each joint, and the robot arm position will be displayed for

link angle x pt loc y pt loc Arm Graph - Fo


J0 0 0
J1 20 4.70 1.71 1
J2 80 4.00 5.65

-10 -8 -6 -4 -2
in
-10 -8 -6 -4 -2
in

Inverse Kinematics
For the inverse kinematics section, define the X and Y location of the last joint, and it will calculate the angles to pu

desired X 3.56
desired Y 6.43 Arm Graph - In
c2 0.3254625 10
s2 0.9455549 angles:
theta 0.5246025 30.05751041856
psi 1.2392955 71.00640224126 8

link x pt loc y pt loc


J0 0 0 6
J1 4.33 2.50
J2 3.56 6.43
4

0
-10 -8 -6 -4 -2
in
e arm to lift an Object.
ll be automatically done in red.

ed robot arm parameters in the yellow blocks


w the center of mass, estimate it to be half of length

osition will be displayed for you.

Arm Graph - Forward Kinematics


10

6
6

2 2

0 0
-4 -2 0 2 4 6 8 10
inches
4

2 2

0 0
-4 -2 0 2 4 6 8 10
inches

ll calculate the angles to put each joint at.

Arm Graph - Inverse Kinematics


10

6
6

3
2

0 0
-4 -2 0 2 4 6 8 10
inches

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