This tutorial is intended to complement the Robot Arm Torque Calculator found in the Dynamic Tools section of GoRobotics. The equations used in the calculator to determine the torque required at any given lifting joint (raising the arm vertically) in a robotic arm are presented h…

Hi Coleman! Thank you for such a great tutorial. It was very helpful. I am designing a 6 DOF articulated robotic arm for my final year project. In this tutorial you mentioned the case in which weights are acting perpendicular to the shaft. Please tell me that how to calculate th…

@Sami Assuming the servo is oriented vertically, the load is minimal, and it really only needs to be able to overcome the inertia of the arm, which unfortunately is quite a bit harder to calculate if you’re in the design stage, so choose something around the same torque as what’s…

Thanks a lot for reply. Sir! Are you sure that torque calculated for elbow will work for the base? What if I take the base torque equal to the torque calculated for the Shoulder? The address for the reference image is: [image]

@Sami It’s just a quick estimate - without calculating the actual inertia / friction. Since it’s only one servo, choose something which should be stronger than needed (a bit overkill).

what is a pressure exerted by robot arm its lifting capacity.

How to calculate the torque required for motor for scara robot arm which is moving in horizontal plane and axis of motor is at Y-axis

@Praveen You can see if you can assume the arm is fairly rigid and there are no forces in z axis. As such, you need to take into consideration inertia, static and kinetic friction. We do not have the equations for these to provide, so additional research on your end is needed.

Dear Sir, How do I calculate Rated Torque for servo motor selection for 3 Link Robotic Arm mechanism ? We able to find Stall Torque by your method but we required Rated Torque. Please provide the necessary formulas.

I am able to find Stall Torque by your method but we required Rated Torque. How do I calculate Rated Torque for servo motor selection for 3 Link Robotic Arm mechanism ? Please give the solution of the same.

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Robot Arm Torque Tutorial

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cbenson October 30, 2017, 8:24am 58

@khant Pressure is a force exerted over an area. Not sure where that applies in most robotic arms. The lifting capacity is a measure of force (and most often torque at each joint).