Tool Tips; Payload Evaluation And Assembly Examples - QB Robotics qbmove Advanced Kit User Manual

5.1

Tool tips

In this paragraph, you can find some basic advices to correctly assemble a robot using the
qbmove kit, avoiding unwanted behaviors of the assembled robot and let the user using it safely.
For a smart assembly, you must read with attention the chapter 2, primarily the technical data.
5.1.1

Payload evaluation and assembly examples

The payload of the assembled robot will depend on the actuator's torque, on the masses, on the
distances and accelerations.
Before starting the assembly, you must decide which type of robot you want to build and make
proper mechanical considerations about the workspace, the dynamics and the payload. A wrong
assembly can drastically reduce the robot's payload when near the limits of the workspace.
Figure 5-1 shows some schematic examples of assembly. Usually the axis of the first joint is
vertically placed to circularly explore the workspace of your robot.
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The qbmove is a back drivable actuator. When the robot is off, a sufficiently
high external load can move the output shaft.
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Figure 5-1: Different types of assembly examples
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