INDRBT / Reading room

Joint torque

Retained digital evidence · results/mechanical/joint_torque.json · SHA-256 57a4e6914728597d97f611d896e04b7a47652d3554a1d720341176b82a45ad8a

This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.

{
  "status": "CALCULATED with ASSUMED lumped masses and mass-consistent equivalent diagonal sizing inertia",
  "sample_count": 6001,
  "seed": 412,
  "extended_gravity_torque_nm": [
    0.0,
    70.16535491875001,
    31.88019331875001,
    0.0,
    6.858525843750001,
    0.0
  ],
  "sampled_absolute_gravity_max_nm": [
    0.0,
    70.16535491875001,
    31.88019331875001,
    6.843040435007883,
    6.858525843750001,
    2.886579864025407e-15
  ],
  "sampled_worst_q_deg": [
    [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ],
    [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ],
    [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ],
    [
      -161.87554537548823,
      -51.40074961450616,
      -131.9419623299013,
      -91.89060466695646,
      -89.70722496355404,
      -110.38082324313405
    ],
    [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ],
    [
      134.10440146597608,
      -21.33319913046363,
      44.96780259277912,
      113.8526042856932,
      -0.5643277597660307,
      133.23945036082307
    ]
  ],
  "conservative_gravity_bound_nm": [
    0.0,
    70.16535491875,
    31.880193318749996,
    6.858525843750001,
    6.858525843750001,
    0.0
  ],
  "point_mass_inertia_bound_kg_m2": [
    4.490834687500001,
    4.490834687500001,
    1.3017946875,
    0.09401906250000001,
    0.09401906250000001,
    0.0
  ],
  "configured_control_inertia_kg_m2": [
    1.2,
    1.8,
    0.8,
    0.08,
    0.05,
    0.03
  ],
  "sizing_inertia_kg_m2": [
    4.490834687500001,
    4.490834687500001,
    1.3017946875,
    0.09401906250000001,
    0.09401906250000001,
    0.03
  ],
  "sizing_inertia_policy": "Per joint max(configured independent-axis plant inertia, all-angle point-COM lever bound). This preserves the educational control plant while preventing actuator sizing below the same assumed point-mass model.",
  "dynamic_allowance_nm": [
    17.249965916326012,
    12.547174828747272,
    5.371585930770471,
    0.7079853934221787,
    0.603265638302519,
    0.3665191429188092
  ],
  "safety_factor": 2.0,
  "concept_output_torque_nm": [
    34.499931832652024,
    165.42505949499454,
    74.50355849904093,
    15.133022474344358,
    14.923582964105039,
    0.7330382858376184
  ],
  "concept_motor_torque_nm": [
    0.5749988638775337,
    1.9693459463689829,
    1.034771645820013,
    0.3362893883187635,
    0.33163517698011197,
    0.018795853483015858
  ],
  "assumed_total_manipulator_mass_kg": 23.65,
  "moving_mass_kg": 15.15,
  "limitations": "COM midpoint point masses; no centroidal body rotation tensors, inertia coupling, Coriolis/centrifugal torque, reflected drive inertia, friction/backlash/cable/thermal/fatigue modelling. Gravity and diagonal point-mass bounds cover their stated model only, not full manipulator dynamics; sampling is not proof of a maximum."
}