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duzO
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Homework Statement
I have this problem. I'm trying to calculate the minimal servo torque for the gripper to hold the part in place.
http://img52.imageshack.us/img52/8784/96199865.jpg
Mass of load is 170grams. u friction between load and walls is 0.5.
the diameter of wheel on which the pegs that pull the grippers is 2cm.
Homework Equations
Force to squeeze * Friction between load and gripper walls > Mass of cube
Torque=Force * radius
The Attempt at a Solution
F(friction)=0.17kg x 0.5=0.085N
F(G)=0.17kg x G = 1.666N
F=F(f) + F(g)= 1.751N
T=1.751N*0.01m=0.01751Nm
This is probably wrong...
Any ideas?
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