Hi. I am working on a project of SCARA robot design. I have generated the torque curves of J1 and J2 (in MATLAB) over the range of 'theta' movement of link 2. I am confused as to how to use this graph for selection of drive and gearbox.
- Is it good practice to take mean of this graph and select gearbox for that average value of torque (meeting the spec of allowable max momentary torque)? I am planning to use a strain wave reducer for my application.
Below is the screenshot of torque curve for J1 and J2.
(J1 max is 116 Nm, J1 mean is 58 Nm, J2 max is 72 N-m, J2 mean is 14.6 N-m). These values are considering 5 kg payload.
Thanks in anticipation.
SA
