- #1
Aaron Mac
- 26
- 1
- Homework Statement
- Hello there, I'm currently designing a robotic arm, basically a revolute (shaft of rotating axis) and a prismatic joint (which further extends with the help of a motor), for which the necessary sizing has already been completed. As you can see, I previously created a counterweight to counteract the effect of the robotic arm's moment around the shaft while the gripper is holding something (payload) or even owing to the weight of the robotic arm itself. But, after some study, I discovered something called clamping force, which is utilized in the fastener industry, but I'm unable to make the required equations to establish the clamping force owing to my insufficient expertise in this area and maybe eliminating the counterweight. I'd appreciate it if someone could assist or guide me in this regard.
- Relevant Equations
- Mass of link 1 - 0.8kg
length of link 1 - 0.15m
Mass of link 2 - 1kg
length of link 2 - 0.15m
Mass of payload - 0.3kg
Acceleration due to gravity in this case = 10ms^-2
Counterweight calculation
Moment around the axis of rotation = F*D
=(8*0.15) + (13*0.15)
= 3.15 Nm