Hi,
I am planning to build a 6axis(6Dof) robot similar to Kuka Kr6 with a payload of **3kg **and reach of **500mm. **I am confused on how to calculate the required torque for the motors. Any guidance would be very helpful for my project.
Thanks in advance.
That’s quite a sizeable arm. The Kuka uses an actuator located at each joint. Comparable robot arms we carry include:
robotshop.com/en/robotshop-m … onics.html (600mm and 0.5Kg)
robotshop.com/en/mover6-6dof-robot-arm.html (600mm and 0.4Kg)
robotshop.com/en/dr-robot-ja … c-arm.html (710mm and 4Kg)
robotshop.com/en/advanced-ro … arm-3.html (2200mm and 4.5Kg)
You might design for “worst case” which is reaching out horizontally. The calculations can be estimated using:
robotshop.com/blog/en/robot- … lator-9712
Equations: robotshop.com/blog/en/robot- … orial-7152
This does not take into account inertia etc.
This article might also help:
robotshop.com/blog/en/how-to … ors-2-3703
@coleman benson. Thanks for your reply.
I am planning to consider circular links.I am having problem in calculating inertia.
Can you please brief about it?
In order to calculate inertia, you need the mass of each actuator and each link, as well as where it’s located, which unfortunately means a good part of the design needs to be complete, or at the very least estimated accurately. Can you explain what you mean by “circular links”?
