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Robot Dynamics
Robot Dynamics
Circumference 2r
Everytime a wheel rotates an entire revolution, the robot travels a
distance equal to the circumference of the wheel.
Multiply that distance by the number of rotations per minute (rpm) and
you get the distance your robot travels in a minute (its speed)
v (2r )( rpm)
For example, if your motor has a rotation speed
(under load) of 100rpm (determined by looking up
the motor part number online) and you want your
robot to travel at 3 feet per second, calculate the
wheel diameter you would need:
v (2r )( rpm)
3 d (1.67rps )
d 0.57 ft or 6.89inches
Wheel diameter and the motor rpm are not the only
factors that determine robot velocity:
• motor torque
• robot weight
• robot acceleration
To achieve proper velocity/movement, you
must balance
• motor torque
• robot acceleration
• wheel diameter
Motor Torque and Force / Acceleration
High force is required to push other robots around,
or to go up hills, or have high acceleration.
F r
rps ma(r rps) Wheel speed
rps ma( v 2 ) v (2r )( rpm)
FL
mg L
Weight
Torque of load
needed to hold a mass a given
distance from a pivot
L is the PERPENDICULAR
length from pivot to force
Robot Arm Torque
To estimate the torque required at each joint, we must choose
the worst case scenario
Greatest
torque
Load
L/2
W1
WL=mg
Arm weight
(mg L) (W1 L / 2)
L(mg W1 / 2)
RMF (motor specs) Robot arm torque
rps L(mg W 1 / 2)( rps )(1 / efficiency)
Robot Arm Torque
If your arm has multiple points, you must determine the torque
around each joint to select the appropriate motor
L3 L2 L1
L3/2 L2/2
L1/2
W3 W2 Wm2 W1
WL=mg
Wm3 Wm1
3 (mg L3 ) (W3 L3 / 2)
2 mg ( L3 L2 ) W3 ( L2 L 2 ) (Wm3 L2 ) (W2 L 2 )
3 2
L3 L2 L1
L3/2 L2/2
L1/2
W3 W2 Wm2 W1
WL=mg
Wm3 Wm1
3
3 lb-in * 2000rps = Torque_New * 300rps
new torque will be 20 lb-in.