Hello everyone.
I want to create a 6 DOF manipulator, and as well as this is my first project I have lots of questions about mechanical part of it.
And one of the most important questions is about gear design.
For example, I have to rotate one link witch length equal to 0.43m. Total link mass is 0.6kg and payload at the end of the link equals to 0.15kg.
After simple calculation I got the required torque for moving this link, and its about 2.5 Nm. And I have some engine which could provide a 3 Nm torque.
But I don’t want to connect the link right on the motor shaft, so here I’m wanna use 1:1 spur gear connection. I also want to print all parts with PLA and I’m not sure that tooth of that 1:1 gearbox can handle the load on them.
I also have calculated the circumferential force which (if I’ve got that right ) has normally affected to the gear teeth with this formula:
Ft= 2*T/d
where:
T – required torque
d – gear diameter (I have 26mm)
And for me Ft=2*2.5/0.026 =~192N
But now I don’t know is that a lot for PLA gear and if it is, how can I calc new one from the material stiffness point of view?
Thanks in advance!