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 dont 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
J2 80 4.00 5.65 1

-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
s2 0.9455549 angles: 1
theta 0.5246025 30.0575104186
psi 1.2392955 71.0064022413

link x pt loc y pt loc

J0 0 0
J1 4.33 2.50
J2 3.56 6.43

K1 6.30185
K2 3.7822198

-10 -8 -6 -4 -2
in
e arm to lift an Object.
l 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
5.6493317287

2 1.7101007166

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

2 1.7101007166

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

l calculate the angles to put each joint at.

Arm Graph - Inverse Kinematics

10

6.43
6

2.5043450882
2

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