INDRBT / Reading room
Structural
Digital engineering model. Payload and repeatability are design targets. All ordinary guide reading, figures and PDFs work here. Links marked Source file lead to the public engineering repository.
Retained digital evidence · results/mechanical/structural.json · SHA-256 e154259f6e835f55347676ebec23f77bf524f8b53a704c831320f36e41e6382d
This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.
{
"status": "CALCULATED linear-elastic cantilever model, not FEA",
"upper_arm": {
"root_moment_nm": 70.16535491875,
"bending_stress_mpa": 1.7589369434489934,
"elastic_deflection_mm": 0.020820801602241836,
"tip_slope_rad": 0.00011529329817975597,
"yield_safety_factor": 136.44605106161364,
"second_moment_m4": 1.9945386666666683e-06
},
"forearm": {
"root_moment_nm": 31.88019331875,
"bending_stress_mpa": 1.274691057974501,
"elastic_deflection_mm": 0.013543250196427629,
"tip_slope_rad": 8.170104783107624e-05,
"yield_safety_factor": 188.28091599023438,
"second_moment_m4": 1.0004053333333333e-06
},
"finger": {
"root_moment_nm": 6.0,
"bending_stress_mpa": 19.999999999999996,
"elastic_deflection_mm": 0.06956521739130433,
"tip_slope_rad": 0.0017391304347826083,
"yield_safety_factor": 12.000000000000002,
"second_moment_m4": 1.5000000000000002e-09
},
"serial_tcp_beam_deflection_mm": 0.10407510103105926,
"serial_tcp_deflection_terms_mm": {
"upper_arm_local": 0.020820801602241836,
"forearm_local": 0.013543250196427629,
"upper_arm_rotation": 0.05418785014448531,
"forearm_rotation": 0.015523199087904484
},
"serial_tcp_formula": "delta_upper + delta_forearm + theta_upper*(L2+lr+lp+lt) + theta_forearm*(lr+lp+lt); metres internally",
"limitations": "Ideal clamped rectangular beams; no holes, welds, fastener contact, bearing/gear compliance, local stress, fatigue, shear deformation, transverse coupling or physical confirmation. Static deflection is not repeatability."
}