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Can you help me with this question, please?
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Homework 1
A DC motor and a speed reducer transmission needs to be designed to power a hip joint of a
robot as shown below. You are asked to choose the right DC motor for this robot to support the
motion of the trunk associated with periodic lifting task with frequency of such that
= [1 − ( )]
2
g
Im
Amplitude of the motion (2 )
distance of center of mass from the hip joint; length: 12”
frequency of bending and lifting task (8 cycles/minute)
mass of the robot trunk: 20 pounds
gravitational acceleration
moment of inertia of the DC motor shaft
Ip
moment of inertia of the low-speed components (transmission output shaft and trunk
A
L
ωo
weight = 2 ) = 2
transmission ratio of the speed reducer (input speed is n times the output speed)
n
η
efficiency of the Transmission
(output torque of the transmission )= η n (input torque of the transmission)
1) Derive an equation for the required torque for the DC motor at the hip.
2) Assuming n =9, = 0.8 , = , plot the required a torque speed curve
representing this maneuver.
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