Question: Is 56 Nm enough torque for a delta robot with the below dimensions and specs? If not, what would be the minimum torque needed? Thank you in advance for your help.

I am working on a rotary delta arm design and needed help sizing the correct motor and gearbox. Below are the mechanical dimensions of the arm and application info.

Delta Arm Specs:

  • Base Radius (Center to Motor): 200 mm
  • Primary Arm Length: 279.4 mm
  • Secondary Arm Length: 441.96 mm
  • End Effector Radius: 100 mm
  • The arms are carbon fiber: Weight of arms is approx: 445 grams
  • The gripping mechanisms weight between 300 grams to 1 kg

Application Info:

  1. Type: Pick and Place
  2. Max Payload: 3 kg
  3. Min picks per minute: 60
  4. Max pick per minute: 100

I have been looking at using Teknic Clearpath motors with a planetary gearbox from Anaheim Automation.

  • Teknic NEMA 23 Motor Peak Torque: 5.8 Nm | Const (RMS) Torque: 1.2 Nm | Max RPM: 1860 with a 10 to 1 single stage gearbox Anaheim Automation Gearbox Arc-Min: 3. At gear output expecting: Peak Torque: 56.26 Nm and Const Torque: 11.64 Nm. RPM Expected: 186

Here is a gif of the delta arm and its movement (Wikipedia) Delta Arm Sketch

  • $\begingroup$ What is the mass of the arms and gripping mechanism? You need this to work out the total mass to be mived and the inertial load acceleration etc $\endgroup$
    – Solar Mike
    Nov 14 '19 at 6:01
  • $\begingroup$ @SolarMike The mass of each set of arms is approx 148 grams and the gripper mechanisms weigh between 250 grams to 1 kg. $\endgroup$
    – vcesena3
    Nov 15 '19 at 18:06
  • $\begingroup$ @vcesena3, fascinating, but too complicated. I don't think I can help you with that. I deleted my answer. $\endgroup$
    – kamran
    Nov 16 '19 at 3:56

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