Model of a rotary joint driven by a linear motor [Part 4]
This page is part of an article about rotary joint driven by a linear motor. Please, start by reading the introduction.
This article is splitted in three parts:
- Part 1. Introduction
- Part 2. Angle as a function of length
- Part 3. Coordinates of motor
- Part 4. Torque
Torque
The last step is the calculation of the torque produced on the joint. The force vector is colinear to the vector \( \overrightarrow{BA} \). Let's name the force produced by the motor \(F\):
$$ \overrightarrow{F} = F \times \dfrac{ \overrightarrow{BA} }{ | \overrightarrow{BA} | } $$
Since the vectors \( \overrightarrow{OA} \) and \( \overrightarrow{F} \) are know, we can use the cross product to calculate the torque on the rotary joint:
$$ \vec { \Gamma } = \overrightarrow {OA} \times \vec{F} $$
From this page, we can deduce:
$$ \Gamma = F_x \times y_A - F_y \times x_A $$
Download
The Matlab script bellow has been used to check the equation presented on this page:
See also
- Angular and linear velocity, cross product
- Configurable gear for solidwork
- Elastic collision - Part 1 - Hypotheses
- Elastic collision - Part 2 - Velocity decomposition
- Elastic collision - Part 3 - Velocity calculation
- Elastic collision - Part 4 - Synthesis and reminder
- Elastic collision - Part 5 - Source code
- Elastic collision - Equations and simulation
- Enable Add-Ins in Solidworks
- Newton's Second Law of motion
- Geometric model for differential wheeled mobile robot
- How to insert gears in a Solidwoks assembly
- Mathematical model of a mechanical differential
- Model of a rotary joint driven by a linear motor [Part 2]
- Model of a rotary joint driven by a linear motor [Part 3]
- Model of a rotary joint driven by a linear motor
