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M2/M4 ACTUATOR HELPER SHEET
DESIRED ROTATIONS
Maximum estimated rotations:Hip
140
°
Knee
120
°
Ankle
110
°
LINEAR TO ROTARY FORCE
Linear Force of 100lbs(440N) @ 1”(0.0254m) is 11.176 Nm.Linear Force of 300lbs(1320N) @ 1.5”(0.0381m) is 50.3 Nm.
TRAVEL & VELOCITY
A 2” diameter pulley rotates 115
°
given a linear cable movement of 2”.An
 x
” pulley rotates 115
°
(1/pi*360) with
 x
” of travel.A linear velocity of 
 x
in/s connected to an
 x
inch pulley results in arotational velocity of 2 rad/sec(115
°
/sec).
SIMULATED FORCES
A 27lb robot in creature library requires 6.34Nm at each knee whenstanding with q.knee equal to .82 radians(47
°
off vertical).
STATIC FORCE ESTIMATION
A 50lb(223 N) robot with a 18” thigh and knee at 90
°
(internal angle)requires a knee torque of 71 Nm total.Tau = m*g*l*cos(theta)Theta is the angle betweenthe thigh and horizontal.
massTaumg
of 00

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