Problem Designing a 5 DOF Robot using Harmonic Drive for picking up 50 KG load.

# Thread: Designing a 5 DOF Robot using Harmonic Drive for picking up 50 KG load.

1. ## Designing a 5 DOF Robot using Harmonic Drive for picking up 50 KG load.

Guys I need a little help. I am required to design a robot that will be able to pick up 50 KG worth of load. Application is not specific except that it needs to pick up that much weight. Other things that are presented to me are that robot needs to be 5 DOF robotic arm. And the gear system it will use is Harmonic Gear drive and the motor it will use is servo motors. The problem I need help with is that I am required to find out the torque that the robot would be facing. HOW AM I SUPPOSE TO DO THAT ?? Also dimensions are not provided to me. How am I to just assume them myself ?

2. ## Re: Designing a 5 DOF Robot using Harmonic Drive for picking up 50 KG load.

I'm not a mechanical engineer, but even a novice can see you need the following before you can start guessing:

1. Size of 50kg object (is it a ball, is it a 3 meter long bar?)
2. Length of arm/segments, including end effector required
3. Approximate range of movement for each DOF
4. Speed required from start point to end point(s)
5. Size/ratio of harmonic drives to be used (determines max torque/speed per joint)
6. Electrical power available to the system (volts/amps available)

In the absence of the above you can't really figure it out. Might as well just find a commercial robot arm with a 50kg payload and copy the thing.

3. 1. It is not a ball. I have not been specified but assumption can be made that its a general wooden box for a assembly line.
2. How am I to determine the arm/segments. can I assume the lengths myself?
3. I have assumed the range of movement of each DOF according to demand. For example at base requirement is for 360 degree. 2nd is 180 degree, 3rd is 270 degree. 4th is 90 degree and fifth is also 360 degree.
4. How am I to determine what speed would be required ? any idea
5. ratio of the harmonic drive is suppose to be 1/100
6. Electrical power has not been specified. Can I assume electrical power on my own.

4. ## Re: Designing a 5 DOF Robot using Harmonic Drive for picking up 50 KG load.

This sounds like a school / University assignment.

We don't know what you can or cannot decide or assume.

If you don't know how to work out the torque required, I don't think you should be designing this robot.

5. ## Re: Designing a 5 DOF Robot using Harmonic Drive for picking up 50 KG load.

Originally Posted by pippin88
This sounds like a school / University assignment.
THIS.

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