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Robotic arm- Moment/bending moment/clamping force
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[QUOTE="erobz, post: 6862510, member: 700856"] It's hard to tell from the picture, but I believe you are rotating the arm horizontally while it's carrying a load. The friction force at the shaft would have a very small moment arm. That torque is responsible for any angular acceleration the arm + payload experience around the axis of rotation (the shaft). The links and payload have moments of inertia about their own centers of mass, and they are compounded by the being at some distance from the center of rotation. Given the small moment arm of the applied force (from the clamping force of the collar) it's not clear to me which force is larger; simply supporting the weight of the arm and payload vertically, or the force involved in giving the system some modest angular acceleration? $$ \frac{I_{tot} \alpha }{ r_{shaft}} \quad \text{or} \quad mg $$ In reality, fasteners are cheap, so you typically just select one that is [I]obviously[/I] larger/stronger than necessary. Computing basic magnitudes might be more work than it's worth. [/QUOTE]
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Robotic arm- Moment/bending moment/clamping force
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