Answer Happy

Problem 1 Calculate the torque required by motor A to drive the below robot arm. The arm can pick a part of 2 kg and place it in any location within the robot workspace. Assume that the center of gravity of each of the links and counterweight unit is in the middle of it. The load must be maintained in the vertical position all the time. Note that the drawing is not to scale and is for illustrative purposes only. Motor A is installed at joint 1. Length information Link 1 (from joint 1 to joint 2) = 1 m Link 2 (from joint 2 to joint 3) = 0.8 m Link 3 (from joint 3 to the beginning of the end effector) = -- 0.2 m = = = End effector length = 0.2 m Counterweight length (from joint 1 to the end of the counterweight unit) = 0.6 m Weight and load information Counterweight = 8 kg Link 1 = 5 kg Link 2 = 5 kg Link3 = End effector = 1 kg Joint 1 assembly = joint 2 assemble = joint 3 asse kg = 1 kg = = 1 counter weight Motor A 1 Final answer Motor A torque: N.m Detailed solution