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Torque Analysis: Leg Servos

Torque Analysis: Leg Servos. Servo Information. Leg Layout. Hip Lift: 1 HT Servo. 0.78’’. Hip Torsion: 1 HT Servo. Assumptions Link weight acts at center of link Links made of Aluminum ρ al = 15.6 oz /in 3 Link Thickness: t=1/16’’ Links are the width of the servo and cover top

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Torque Analysis: Leg Servos

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  1. Torque Analysis: Leg Servos Servo Information Leg Layout Hip Lift: 1 HT Servo 0.78’’ Hip Torsion: 1 HT Servo Assumptions Link weight acts at center of link Links made of Aluminum ρal = 15.6 oz/in3 Link Thickness: t=1/16’’ Links are the width of the servo and cover top Links are on both sides of servos 5.22’’ 10.72’’ Knee: 1 HT Servo Ankle: 2 LT Servos

  2. Torque Analysis: Hip Servo Max Torque Condition on Hip Servo when leg fully extended and // to ground L3 F1= ρal*t1(2*L2*W1+(L2-1.25)*W2) F1=15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45 F1=13.90 oz L2 L1=0.78’’ L2=5.22’’ L3=10.72’’ L1 F2= ρal*t1(2*(L3-L2) *W1+(L3-L2-1.25)*W2) F2=15.6*0.0625(2*(10.72-5.22)*0.78 +(10.72-5.22-1.25)*1.45 F2=14.37 oz F1 F2 Tmax + S1=S2=S3=SHT = 2.18 oz S4=2SLT= 3.88 oz S2 S1 S4 S3

  3. Torque Analysis: Knee Servo Max Torque Condition on Knee Servo when Thigh // to ground & Shin ┴ to ground Additional Assumptions Each Arm consists of 1LT & 3 HT Servos Neck has 2 LT Servos Hip Joint has 3 HT Servos Arm Links are same as leg links (conservative) Torso + Electronics weigh 4 lbs (64oz) Each Knee has to lift ½ weight of robot -Upper body leaning such that half weight is at thigh and other half is halfway b/t thigh and knee F1 L2 L2=5.22’’ L3-L2=5.5’’ F1=6.76 oz + Tmax L3-L2 Wr= 2Warm+Wneck+2Whip+Wtorso Wr=2*(1LT+3HT+F1)+2LT+3HT+48 Wr=2(1.94+3*2.18+13.9)+(2*1.94)+2(3*2.18)+64) Wr= 128.54oz 1.61

  4. Torque Analysis: PUSH UP Push-up Layout Servo Information 140mm 140mm 120mm 120mm F Assumptions Link weight acts at center of link Links made of Aluminum ρal = 15.6 oz/in3 Link Thickness: t=1/16’’ Links are the width of the servo and cover top Mass of 2 lbs at chest used to estimate internal electronic components and hip mass of 1 lb used to estimate battery 118mm 118mm 201mm F 182mm 120mm + O

  5. Torque Analysis: PUSH UP Max Torque Condition on Hip Servo when leg fully extended and // to ground L4 F1= ρal*t1(2*L2*W1+(L2-1.25)*W2) F1=15.6*0.0625(2*5.22*0.78+(5.22-1.25)*1.45 F1=13.90 oz L3 L2 F2= ρal*t1(2*(L3-L2) *W1+(L3-L2-1.25)*W2) F2=15.6*0.0625(2*(10.72-5.22)*0.78 +(10.72-5.22-1.25)*1.45 F2=14.37 oz L1 L1=182mm L2= 383mm L3=501mm L4=620mm F2 F1 M=2lbs S1= 2*2.18 oz= 4.36 oz S2= 6*2.18 oz = 13.08 oz S3= 4*2.18 oz = 8.72 oz To + F S3 S1 M S2 +(*) – (F * ) , assume T=0 at o (moment balance) F+(8.72*620))/620 T

  6. STRESS ANALYSIS ARM LINK

  7. STRESS ANALYSIS ARM LINK

  8. ARM

  9. ARM

  10. ARM LINK DRAWING

  11. STRESS ANALYSIS SHIN LINK

  12. STRESS ANALYSIS SHIN LINK

  13. STRESS ANALYSIS THIGH LINK

  14. STRESS ANALYSIS THIGH LINK

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