Thames & Kosmos Mechanical Engineering: Robotic Arms handleiding

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Forces and Moments

Understanding how forces and moments inﬂuence a

robotic arm is critical for its design, because a

mistake in these calculations could cause the robotic

arm to break.

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ACCELERATION

To understand force, you must ﬁrst understand

acceleration. Acceleration is a measure of how

much the velocity of an object is changing. For

example, a car is accelerating when it speeds up,

slows down, or changes direction.

FORCE

A force can simply be thought of as a push or

pull. A force is equal to the mass of the object

multiplied by its acceleration. This is

summarized by the formula:

F = m × a.

Each linkage and joint in a robotic arm has a

weight, which is a force that points downward

towards the Earth. A robotic arm must not only

be able to support the weight of the arm itself,

but also the weight of what the robot arm will

carry. The maximum weight that a robot can lift

is called the carrying capacity.

MOMENT

A force tends to cause an object to move, but depending

on where the force is applied on an object, the force can

also cause an object to rotate. For example, if you push

on the end of wrench, the force of your push causes it to

turn. How much a force causes an object to rotate is

measured by its moment. A moment depends on how far

the force is from the axis of rotation and how big of a

force is applied. This can be wrien as the formula:

M = F × d

You can increase the moment by increasing the force or

the distance from the axis on which the force is exerted.

You felt this in Experiment 2 when you stretched your

arm out with the grabber robotic arm.

ARM SAGGING

Arm sagging occurs when the robotic arm is

too long and heavy, causing it to bend when it

is stretched out. This is undesirable. You want

your robotic arm to be as rigid and light as

possible. This can be overcome partially by

positioning the heaviest components as close

to the base of the robotic arm as possible.

Forces and Moments

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