Robot Arm Designer

Force and Torque Calculator

Peso (N) Length (m) Center of Mass
Linkage1 7.84 0.5 0.25 note: Fill in the desired robot arm param
Linkage2 4.9 0.2 0.1 note: If you dont know the center of ma
Joint2 7.35
Object 0

efficiency 90%

Acel.Motor 2 40 Acel.Motor 1 40 deg/s^2

calculating:
Joint 1 Torque*1 12.702 Nm 1270.156 Ncm
Joint 2 Torque*2 0.582 Nm 58.24538 Ncm

*1 = [P1*CM L1+ P2*L1+P3*(L1+ CM L2) + Pobj * (L1+L2)]+[P1*CM L1^2 + P2*L1^2 + P3*(L1+CM

*2 = [P3*CM L2 + Pobj*L2+(P3*CM L2^2 + Pobj*L2^2)]*AceleMotor1*PI/180/Eficiencia

Assumir que queremos fazer um arco de 0,5m corresponde a deslocar a articulao 2 de 41

motor R L R% L% L/R R (min)
1 0.0171 0.15 0.2 0.0171 0.85

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 Gr

J0 0 0
J1 41 0.38 0.33
J2 0 0.53 0.46

rad 0.71
40.6800034543
deg 41
0.7155849933

s 0.5009094953

-0.8 -0.6 -0.4 -0

 -0.8 -0.6 -0.4 -0

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 0.53
desired Y -0.46 Arm Gr
c2 1.0125
s2 Err:502 angles:
theta Err:502 Err:502
psi Err:502 Err:502

link x pt loc y pt loc

J0 0 0
J1 Err:502 Err:502
J2 Err:502 Err:502

K1 0.7025
K2 Err:502

-10 -8 -6 -4
n the desired robot arm parameters in the yellow blocks
u dont know the center of mass, estimate it to be half of length

Binrio requerido ao Motor 2

Binrio requerido ao Motor 1

1^2 + P2*L1^2 + P3*(L1+CM L2)^2 + Pobj*(L1+CM L2)^2]*AceleMotor2 *PI/180/Eficiencia

PI/180/Eficiencia

L(max) L/R (max) tempo I min

0.02052 0.024141 0.120706 4.1423 0.125 *1 - tempo p/atingir corrente final do circuito
*1

position will be displayed for you.

Arm Graph - Forward Kinematics

0.8

0.7

0.6

0.5
0.4592413203
0.4
0.3280295145
0.3

0.2

0.1

0 0
-0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8
inches
 0.3280295145
0.3

0.2

0.1

0 0
-0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8
inches

will calculate the angles to put each joint at.

Arm Graph - Inverse Kinematics

0.8

0.6

0.4

0.2

0 0
-8 -6 -4 -2 0 2 4 6 8 10
inches
orrente final do circuito
 t V1 V2
0 0 0
0.002414 0.895648 2.686943
R 0.85 0.004828 1.706064 5.118191
L 0.02052 0.007242 2.439358 7.318074
V 8 0.009656 3.10287 9.30861
24 0.012071 3.703241 11.10972
48 0.014485 4.246479 12.73944
tau 0.024141 0.016899 4.738021 14.21406
0.096565 0.019313 5.182786 15.54836
0.021727 5.585227 16.75568
0.024141 5.94937 17.84811
0.026555 6.27886 18.83658
9.411765 0.028969 6.576996 19.73099
0.031384 6.84676 20.54028
0.033798 7.090852 21.27256
0.036212 7.311716 21.93515
0.038626 7.511562 22.53469
0.04104 7.69239 23.07717
0.043454 7.85601 23.56803
0.045868 8.00406 24.01218
0.048282 8.138021 24.41406
0.050696 8.259234 24.7777
0.053111 8.368911 25.10673
0.055525 8.468152 25.40446
0.057939 8.557949 25.67385
0.060353 8.6392 25.9176
0.062767 8.712719 26.13816
0.065181 8.779242 26.33773
0.067595 8.839435 26.5183
0.070009 8.893899 26.6817
0.072424 8.943181 26.82954
0.074838 8.987772 26.96332
0.077252 9.02812 27.08436
0.079666 9.064629 27.19389
0.08208 9.097663 27.29299
0.084494 9.127554 27.38266
0.086908 9.1546 27.4638
0.089322 9.179073 27.53722
0.091736 9.201216 27.60365
0.094151 9.221253 27.66376
0.096565 9.239382 27.71815
0.098979 9.255787 27.76736
0.101393 9.27063 27.81189
0.103807 9.284061 27.85218
0.106221 9.296213 27.88864
0.108635 9.307209 27.92163
0.111049 9.317159 27.95148
0.113464 9.326162 27.97849
0.115878 9.334308 28.00292
0.118292 9.341679 28.02504
0.120706 9.348349 28.04505
0.12312 9.354384 28.06315
0.125534 9.359844 28.07953
0.127948 9.364785 28.09435
0.130362 9.369256 28.10777
0.132776 9.373301 28.1199
0.135191 9.376961 28.13088
0.137605 9.380273 28.14082
0.140019 9.38327 28.14981
0.142433 9.385982 28.15795
0.144847 9.388435 28.16531
0.147261 9.390655 28.17197
0.149675 9.392664 28.17799
0.152089 9.394482 28.18345
0.154504 9.396127 28.18838
0.156918 9.397615 28.19284
0.159332 9.398961 28.19688
0.161746 9.40018 28.20054
0.16416 9.401282 28.20385
0.166574 9.40228 28.20684
0.168988 9.403182 28.20955
0.171402 9.403999 28.212
0.173816 9.404738 28.21421
0.176231 9.405407 28.21622
0.178645 9.406012 28.21804
0.181059 9.406559 28.21968
0.183473 9.407055 28.22116
0.185887 9.407503 28.22251
0.188301 9.407908 28.22373
0.190715 9.408275 28.22483
0.193129 9.408607 28.22582
0.195544 9.408908 28.22672
0.197958 9.40918 28.22754
0.200372 9.409426 28.22828
0.202786 9.409648 28.22894
0.2052 9.40985 28.22955
0.207614 9.410032 28.2301
0.210028 9.410197 28.23059
0.212442 9.410346 28.23104
0.214856 9.410481 28.23144
0.217271 9.410603 28.23181
0.219685 9.410714 28.23214
0.222099 9.410814 28.23244
0.224513 9.410904 28.23271
0.226927 9.410986 28.23296
0.229341 9.41106 28.23318
0.231755 9.411127 28.23338
0.234169 9.411188 28.23356
0.236584 9.411243 28.23373
0.238998 9.411292 28.23388
0.241412 9.411337 28.23401
0.243826 9.411378 28.23413
0.24624 9.411415 28.23424
0.248654 9.411448 28.23434
0.251068 9.411478 28.23443
0.253482 9.411506 28.23452
0.255896 9.41153 28.23459
0.258311 9.411553 28.23466
0.260725 9.411573 28.23472
0.263139 9.411591 28.23477
0.265553 9.411608 28.23482
0.267967 9.411622 28.23487
0.270381 9.411636 28.23491
0.272795 9.411648 28.23494
0.275209 9.411659 28.23498
0.277624 9.411669 28.23501
0.280038 9.411678 28.23504
0.282452 9.411687 28.23506
0.284866 9.411694 28.23508
0.28728 9.411701 28.2351
0.289694 9.411707 28.23512
0.292108 9.411712 28.23514
0.294522 9.411717 28.23515
0.296936 9.411722 28.23517
0.299351 9.411726 28.23518
0.301765 9.41173 28.23519
0.304179 9.411733 28.2352
0.306593 9.411736 28.23521
0.309007 9.411739 28.23522
0.311421 9.411741 28.23522
0.313835 9.411743 28.23523
0.316249 9.411745 28.23524
0.318664 9.411747 28.23524
0.321078 9.411749 28.23525
0.323492 9.41175 28.23525
0.325906 9.411752 28.23526
0.32832 9.411753 28.23526
0.330734 9.411754 28.23526
0.333148 9.411755 28.23527
0.335562 9.411756 28.23527
0.337976 9.411757 28.23527
0.340391 9.411758 28.23527
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0.345219 9.411759 28.23528
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0.350047 9.41176 28.23528
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0.362118 9.411762 28.23529
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0.383845 9.411764 28.23529
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0.407986 9.411764 28.23529
 0.4104 9.411764 28.23529
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0.420056 9.411764 28.23529
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0.427299 9.411765 28.23529
0.429713 9.411765 28.23529
0.432127 9.411765 28.23529
0.434541 9.411765 28.23529
0.436955 9.411765 28.23529
0.439369 9.411765 28.23529
0.441784 9.411765 28.23529
0.444198 9.411765 28.23529
0.446612 9.411765 28.23529
0.449026 9.411765 28.23529
0.45144 9.411765 28.23529
0.453854 9.411765 28.23529
0.456268 9.411765 28.23529
0.458682 9.411765 28.23529
0.461096 9.411765 28.23529
0.463511 9.411765 28.23529
0.465925 9.411765 28.23529
0.468339 9.411765 28.23529
0.470753 9.411765 28.23529
0.473167 9.411765 28.23529
0.475581 9.411765 28.23529
0.477995 9.411765 28.23529
0.480409 9.411765 28.23529
0.482824 9.411765 28.23529
0.485238 9.411765 28.23529
0.487652 9.411765 28.23529
0.490066 9.411765 28.23529
0.49248 9.411765 28.23529
0.494894 9.411765 28.23529
0.497308 9.411765 28.23529
0.499722 9.411765 28.23529
0.502136 9.411765 28.23529
0.504551 9.411765 28.23529
0.506965 9.411765 28.23529
0.509379 9.411765 28.23529
0.511793 9.411765 28.23529
0.514207 9.411765 28.23529
0.516621 9.411765 28.23529
0.519035 9.411765 28.23529
0.521449 9.411765 28.23529
0.523864 9.411765 28.23529
0.526278 9.411765 28.23529
0.528692 9.411765 28.23529
0.531106 9.411765 28.23529
0.53352 9.411765 28.23529
0.535934 9.411765 28.23529
0.538348 9.411765 28.23529
0.540762 9.411765 28.23529
0.543176 9.411765 28.23529
0.545591 9.411765 28.23529
0.548005 9.411765 28.23529
0.550419 9.411765 28.23529
0.552833 9.411765 28.23529
0.555247 9.411765 28.23529
0.557661 9.411765 28.23529
0.560075 9.411765 28.23529
0.562489 9.411765 28.23529
0.564904 9.411765 28.23529
0.567318 9.411765 28.23529
0.569732 9.411765 28.23529
0.572146 9.411765 28.23529
0.57456 9.411765 28.23529
0.576974 9.411765 28.23529
0.579388 9.411765 28.23529
0.581802 9.411765 28.23529
0.584216 9.411765 28.23529
0.586631 9.411765 28.23529
0.589045 9.411765 28.23529
0.591459 9.411765 28.23529
0.593873 9.411765 28.23529
0.596287 9.411765 28.23529
V3
0
5.373887
10.23638
14.63615
18.61722
22.21945
25.47887
28.42812
31.09672 0.75
33.51136 0.743671
35.69622
37.67316
39.46197
41.08056
42.54511
43.8703
45.06937
46.15434
47.13606
48.02436
48.82813
49.5554
50.21347
50.80891
51.34769
51.8352
52.27632
52.67545
53.03661
53.36339
53.65908
53.92663
54.16872
54.38777
54.58598
54.76532
54.9276
55.07444
55.2073
55.32752
55.43629
55.53472
55.62378
55.70436
55.77728
55.84326
55.90296
55.95697
56.00585
56.05008
56.09009
56.1263
56.15906
56.18871
56.21553
56.23981
56.26177
56.28164
56.29962
56.31589
56.33061
56.34393
56.35599
56.36689
56.37676
56.38569
56.39377
56.40108
56.40769
56.41368
56.41909
56.42399
56.42843
56.43244
56.43607
56.43936
56.44233
56.44502
56.44745
56.44965
56.45164
56.45345
56.45508
56.45655
56.45789
56.4591
56.46019
56.46118
56.46208
56.46289
56.46362
56.46428
56.46488
56.46543
56.46592
56.46636
56.46676
56.46713
56.46746
56.46775
56.46802
56.46827
56.46849
56.46869
56.46887
56.46903
56.46918
56.46932
56.46944
56.46955
56.46965
56.46973
56.46982
56.46989
56.46996
56.47002
56.47007
56.47012
56.47016
56.4702
56.47024
56.47027
56.4703
56.47033
56.47036
56.47038
56.4704
56.47042
56.47043
56.47045
56.47046
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56.47048
56.47049
56.4705
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56.47059
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