Snake Robot Notepad

Torque Matters

This explanation was created to show how the rising of the linkages one by one decreases the requirement in torque per joint.

Linkages and Torque

Case (a) the equation for the torque which is required to lift two linkages is :
$T = M1*(L+L/2)+M1*(L/2)$

Case (b) the equation for the torque which is required to lift two linkages is :
$T = M1*(Lcos(\alpha))+M1*(cos(\alpha)L/2)$

It is trivial that the torque required for the base join to lift the whole structure is less for case (b) then for case (a)
;)

Collaboration

Maybe it would be a good idea to collaborate with Flute playing robot …. WF4IV
WF4IV

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