INDRBT / Reading room
Experiments
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/research/experiments.json · SHA-256 4713ee57cd533a569dfd001d36d3a6cd52b22f3b673a023c3051d39ba6d4208a
This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.
{
"seed": 504,
"status": "CALCULATED / SIMULATED; no physical experiments",
"RQ1": {
"samples_per_ratio": 2200,
"values": [
{
"ratio": 0.75,
"upper_arm_m": 0.2571428571428572,
"forearm_m": 0.3428571428571429,
"sample_min_shoulder_radius_m": 0.18295758859911695,
"sample_max_shoulder_radius_m": 0.7898657186924772,
"above_floor_sample_count": 1526,
"occupied_40mm_voxels": 1431
},
{
"ratio": 1.0,
"upper_arm_m": 0.30000000000000004,
"forearm_m": 0.30000000000000004,
"sample_min_shoulder_radius_m": 0.1369411487646478,
"sample_max_shoulder_radius_m": 0.7898548333725504,
"above_floor_sample_count": 1555,
"occupied_40mm_voxels": 1464
},
{
"ratio": 1.1428571428571428,
"upper_arm_m": 0.32000000000000006,
"forearm_m": 0.28,
"sample_min_shoulder_radius_m": 0.1270581673300877,
"sample_max_shoulder_radius_m": 0.7898507972478014,
"above_floor_sample_count": 1562,
"occupied_40mm_voxels": 1476
},
{
"ratio": 1.5,
"upper_arm_m": 0.36000000000000004,
"forearm_m": 0.24000000000000005,
"sample_min_shoulder_radius_m": 0.13805536831976623,
"sample_max_shoulder_radius_m": 0.7898447175523883,
"above_floor_sample_count": 1581,
"occupied_40mm_voxels": 1485
},
{
"ratio": 2.0,
"upper_arm_m": 0.4000000000000001,
"forearm_m": 0.20000000000000004,
"sample_min_shoulder_radius_m": 0.15480608894750855,
"sample_max_shoulder_radius_m": 0.7898467875031759,
"above_floor_sample_count": 1600,
"occupied_40mm_voxels": 1512
}
],
"interpretation": "Outer geometric reach fixed. Voxel counts are a finite-sample index, not reachable volume or collision-free workspace."
},
"RQ2": {
"payload_kg": [
0,
1,
2,
3,
4,
5,
6
],
"shoulder_nm": [
39.17634091875,
46.92359441875,
54.67084791875,
62.418101418750005,
70.16535491875001,
77.91260841875001,
85.65986191875001
],
"elbow_nm": [
13.443691318750005,
18.052816818750006,
22.661942318750008,
27.27106781875001,
31.88019331875001,
36.48931881875001,
41.09844431875001
]
},
"RQ3": [
{
"duration_s": 2.0,
"max_velocity_rad_s": 0.4908738521234051,
"max_acceleration_rad_s2": 0.7557496588457366
},
{
"duration_s": 4.0,
"max_velocity_rad_s": 0.24543692606170256,
"max_acceleration_rad_s2": 0.18893741471143416
},
{
"duration_s": 8.0,
"max_velocity_rad_s": 0.12271846303085128,
"max_acceleration_rad_s2": 0.04723435367785854
}
],
"RQ4": [
{
"gain_scale": 0.5,
"joint2_rmse_rad": 0.04285118711227711,
"settling_time_2percent_s": 0.9,
"overshoot_percent": 4.9635462382620155,
"peak_torque_nm": 30.11216558465817
},
{
"gain_scale": 1.0,
"joint2_rmse_rad": 0.0383305941402165,
"settling_time_2percent_s": 0.436,
"overshoot_percent": 1.4087637825724768,
"peak_torque_nm": 60.22433116931634
},
{
"gain_scale": 2.0,
"joint2_rmse_rad": 0.03563839415994216,
"settling_time_2percent_s": 0.496,
"overshoot_percent": 1.3092508625414752,
"peak_torque_nm": 120.44866233863269
}
],
"RQ5": {
"finger_length_m": [
0.03,
0.04,
0.05,
0.06,
0.07,
0.08,
0.09
],
"stress_mpa": [
9.999999999999998,
13.333333333333332,
16.666666666666664,
19.999999999999996,
23.333333333333332,
26.666666666666664,
29.999999999999996
],
"deflection_mm": [
0.008695652173913042,
0.02061191626409018,
0.040257648953301126,
0.06956521739130433,
0.11046698872785832,
0.16489533011272145,
0.23478260869565212
],
"fixed_total_normal_force_N": 200.0,
"required_screw_torque_nm": 0.3637827270671894,
"interpretation": "Finger length raises bending moment and cubic elastic deflection. Ideal lead-screw force and torque do not depend on finger length; guide moments and flexibility do."
}
}