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
- Type: Pick and Place
- Max Payload: 3 kg
- Min picks per minute: 60
- 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