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- Measure torque at each joint (During assembly to ensure roughly correct torque is provided)
- Measure max torque at each joint
- Determine a more suitable safety factor based on recorded torque
- Determine refined linkage lengths (if applicable)
- Determine approximate ideal RPM for each joint
- Time Permitting - Data set of joint torques (on average) for all expected arm calcs
Competition Tasks:
Retrieval and Delivery
- Lifting Payload (5kg payload, rope tow)
- Pick something off the ground (5 cm diameter) → Screw driver?
- Using a keyboard? Pull an object by a rope
Equipment Servicing
- Lift from handle (10cm long, 5cm diameter)
- Open a drawer → There's one for testing in the bay already
- Flip a switch → I think there's one for testing in the bay already
- Turn a knob → I think there's one for testing in the bay already
- Use of Allen key
- Use a keyboard → We have one in the bay already and this would be a good opportunity to test the precision of the arm
- Operate joystick
- Insert USB type A into slot
Deliverables
- Max Torque for each joint (with load)
- Refined safety factor
- Refined linkage lengths
- Ideal RPMs for each joint
- Idea accelerations for each joint
- Refined workspace
- Weight (Is this relevant? Will the change in components make this obsolete?)
Procedures
3. Measuring Torque
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