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    Torque in Robotics

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    ririapple.cutie
    Here are the key steps to solve this problem: * The arm weighs 31.0 N * The deltoid muscle can supply 1840 N of force * For equilibrium, the torque due to the weight must be balanced by the torque due to the deltoid force * Torque = Force x Distance * Let x be the weight of the dumbbell * Torque due to weight = x * distance to shoulder * Torque due to deltoid = 1840 N * distance to deltoid insertion point * Set the torques equal and solve for x So the maximum weight the dumbbell can be while maintaining equilibrium is 1840 * (distance to shoulder) / (distance to

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    Torque in Robotics

    Uploaded by

    ririapple.cutie
    9 views20 pages
    Here are the key steps to solve this problem: * The arm weighs 31.0 N * The deltoid muscle can supply 1840 N of force * For equilibrium, the torque due to the weight must be balanced by the torque due to the deltoid force * Torque = Force x Distance * Let x be the weight of the dumbbell * Torque due to weight = x * distance to shoulder * Torque due to deltoid = 1840 N * distance to deltoid insertion point * Set the torques equal and solve for x So the maximum weight the dumbbell can be while maintaining equilibrium is 1840 * (distance to shoulder) / (distance to

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    Here are the key steps to solve this problem: * The arm weighs 31.0 N * The deltoid muscle can supply 1840 N of force * For equilibrium, the torque due to the weight must be balanced by the torque due to the deltoid force * Torque = Force x Distance * Let x be the weight of the dumbbell * Torque due to weight = x * distance to shoulder * Torque due to deltoid = 1840 N * distance to deltoid insertion point * Set the torques equal and solve for x So the maximum weight the dumbbell can be while maintaining equilibrium is 1840 * (distance to shoulder) / (distance to

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    9 views20 pages

    Torque in Robotics

    Uploaded by

    ririapple.cutie
    Here are the key steps to solve this problem: * The arm weighs 31.0 N * The deltoid muscle can supply 1840 N of force * For equilibrium, the torque due to the weight must be balanced by the torque due to the deltoid force * Torque = Force x Distance * Let x be the weight of the dumbbell * Torque due to weight = x * distance to shoulder * Torque due to deltoid = 1840 N * distance to deltoid insertion point * Set the torques equal and solve for x So the maximum weight the dumbbell can be while maintaining equilibrium is 1840 * (distance to shoulder) / (distance to

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 20

    Torque in Robotics II

    Torque (Moment of Force)


    ○ According to Newton’s second law, a
    net force causes an object to have an
    acceleration.

    ○ What causes an object to have an


    angular acceleration?
    TORQUE
    9.1 The Action of Forces and Torques on Rigid Objects

    The amount
    of torque
    depends on
    where and in what direction
    the force is applied, as well
    as the location of the axis of
    rotation.
    9.1 The Action of Forces and Torques on Rigid Objects

    DEFINITION OF TORQUE
    Magnitude of Torque = (Magnitude of the force) x (Lever
    arm)
    Direction: The torque is positive when the force tends to
    produce a counterclockwise rotation about the axis.
    SI Unit of Torque: meter x newton (m·N)
    9.1 The Action of Forces and Torques on Rigid Objects

    Example 2 The Achilles Tendon

    The tendon exerts a force of


    magnitude 790 N. Determine the
    torque (magnitude and direction)
    of this force about the ankle joint.
    9.1 The Action of Forces and Torques on Rigid Objects

    790
    N
    Rigid Objects in Equilibrium

    If a rigid body is in equilibrium, neither its linear motion


    nor its rotational motion changes.
    Rigid Objects in Equilibrium

    EQUILIBRIUM OF A RIGID BODY

    A rigid body is in equilibrium if it has zero translational


    acceleration and zero angular acceleration. In
    equilibrium, the sum of the externally applied forces is
    zero, and the sum of the externally applied torques is
    zero.
    Rigid Objects in Equilibrium

    Reasoning Strategy
    1. Select the object to which the equations for equilibrium
    are to be applied.
    2. Draw a free-body diagram that shows all of the
    external forces acting on the object.
    3. Choose a convenient set of x, y axes and resolve all
    forces into components that lie along these axes.
    4. Apply the equations that specify the balance of forces
    at equilibrium. (Set the net force in the x and y
    directions equal to zero.)
    5. Select a convenient axis of rotation. Set the sum of the
    torques about this axis equal to zero.
    9.2 Rigid Objects in Equilibrium

    Example 3 A Diving Board

    A woman whose weight is 530 N is


    poised at the right end of a diving
    board with length 3.90 m. The board
    has negligible weight and is
    supported by a fulcrum 1.40 m away
    from the left end.

    Find the forces that the bolt and the


    fulcrum exert on the board.
    9.2 Rigid Objects in Equilibrium
    9.2 Rigid Objects in Equilibrium
    Center of Gravity

    DEFINITION OF CENTER OF GRAVITY

    The center of gravity of a rigid


    body is the point at which
    its weight can be considered
    to act when the torque due
    to the weight is being calculated.
    Center of Gravity

    When an object has a symmetrical shape and its


    weight is distributed uniformly, the center of gravity
    lies at its geometrical center.
    Center of Gravity
    Center of Gravity

    Example 6 The Center of


    Gravity of an Arm

    The horizontal arm is composed of


    three parts: the upper arm (17 N),
    the lower arm (11 N), and the hand
    (4.2 N).

    Find the center of gravity of the


    arm relative to the shoulder joint.
    9.3 Center of Gravity
    SW#¼ SOP

    1.The arm is horizontal and weighs 31.0 N. The deltoid


    muscle can supply 1840 N of force. What is the weight of
    the heaviest dumb bell he can hold?

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