Rotary Axis 2

Rotary Axis 2 is connected via a pin connection to arm 1. The Nema 14 stepper motor drives the
rotation of arm 2 through a pulley system that is mounted on top of rotary axis 1. Arm two has
a complex geometry which is why 3-D printing is perfect (Refer to Figure 25). The far right of
the arm has a slot where the gripper housing will sit in. Along with the slot, there is a servo
housing where the servo motor sits. This is to keep the motor stable when rotating and to make
sure it is the same distance away from the gripper at all times.

Figure 25: Arm 2

Figure 26: Rotary Axis 2 FBD

 Figure 27: Arm 2 Cross Section

1. Angular Speed and Resolution

𝑟𝑒𝑣 𝑚𝑖𝑛 2𝜋𝑟𝑎𝑑
(37.5 𝑚𝑖𝑛)(60𝑠𝑒𝑐 )( 𝑟𝑒𝑣 )
𝛼=
0.1𝑠𝑒𝑐

𝑟𝑎𝑑
39.26
𝑠2
𝑑𝑒𝑔
𝑆𝑡𝑒𝑝𝑝𝑒𝑟 𝑀𝑜𝑡𝑜𝑟 𝐷𝑒𝑔𝑟𝑒𝑒 𝑝𝑒𝑟 𝑆𝑡𝑒𝑝 ∗ 2 0.9 𝑠𝑡𝑒𝑝 ∗ 2 𝑑𝑒𝑔𝑟𝑒𝑒𝑠
𝑇𝑜𝑡𝑎𝑙 𝐷𝑒𝑔𝑟𝑒𝑒𝑠 𝑃𝑒𝑟 𝑆𝑡𝑒𝑝: = = 0.75
𝐺𝑒𝑎𝑟 𝑅𝑎𝑡𝑖𝑜 2.4 𝑠𝑡𝑒𝑝

2. Moment of Inertia
The moment of inertia equation for rotary axis 2 is very similar to rotary axis two except it
doesn’t take into consideration the bearings and screw at the connection joint. Equation 3.1 was
used to calculate this.

𝑚𝑓 (𝑚𝑎𝑠𝑠 𝑜𝑓 𝑓𝑙𝑎𝑛𝑔𝑒) = 0.046𝑘𝑔 𝐿𝑆 = 0.12 𝑚

𝑚𝑤 (𝑚𝑎𝑠𝑠 𝑜𝑓 𝑤𝑒𝑏) = 0.03744𝑘𝑔 𝐿𝑀 = 0.15 𝑚

𝑚𝑓 (𝑚𝑎𝑠𝑠 𝑜𝑓 𝑚𝑎𝑔𝑛𝑒𝑡 𝑎𝑛𝑑 𝑏𝑎𝑙𝑙) = 0.015𝑘𝑔 𝐿 = 0.3 𝑚

𝑚𝑆 (𝑚𝑎𝑠𝑠 𝑜𝑓 𝑠𝑒𝑟𝑣𝑜) = 0.04𝑘𝑔 𝑏2 = 0.008 𝑚

𝑏1 = 0.03𝑚

𝑚𝑓 𝑏1 2 𝑚𝑓 𝐿2 𝑚𝑤 𝑏2 2 + 𝑚𝑤 𝐿2
𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛 3.1: 𝐽 = 2 ( + )+( ) + 𝑚𝑀 𝐿𝑀 2 + 𝑚𝑆 𝐿𝑆 2
12 3 3
 𝐽𝑡𝑜𝑡𝑎𝑙 = 1.89 ∗ 10−3 𝑘𝑔 − 𝑚2

3. Motor Torque
The motor torque calculation used the same angular acceleration at rotary axis one. Refer to the
angular acceleration section of rotary axis one for full calculation.

𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2.4: 𝜏 = 𝐽 ∗ 𝛼

𝐽 = 1.89 ∗ 10−3 𝑘𝑔 − 𝑚2

𝑟𝑎𝑑
𝛼 = 39.26
𝑠2

𝜏 = 0.0248𝑁 − 𝑚

4. Plastic Failure
The plastic failure was calculated from equation 1.1. The individual values are listed as follows.

𝑀 = 0.156 𝑁 − 𝑚

𝑐 = 0.0075𝑚

𝐼 = 24.38 ∗ 10−9 𝑚4

𝜎𝑏𝑒𝑛𝑑𝑖𝑛𝑔 = 0.270 𝑀𝑃𝑎

Proceeding the calculations of the bending stress, we compared it to the yield strength

of the material to determine if it will fail. The design will not fail and has a safety factor

of 82.6.

𝑁𝑜𝑡𝑒: 𝑈𝑛𝑖𝑡𝑠 ℎ𝑎𝑣𝑒 𝑏𝑒𝑒𝑛 𝑐𝑜𝑛𝑣𝑒𝑟𝑡𝑒𝑑 𝑎𝑛𝑑 𝑛𝑜𝑡 𝑠ℎ𝑜𝑤𝑛 𝑓𝑜𝑟 𝑠𝑖𝑚𝑝𝑙𝑖𝑐𝑖𝑡𝑦

𝑇𝑒𝑛𝑠𝑖𝑙𝑒 𝑆𝑡𝑟𝑒𝑛𝑔𝑡ℎ 𝐴𝐵𝑆 = 3200 𝑝𝑠𝑖

3200 𝑝𝑠𝑖
𝐶𝑎𝑙𝑐𝑢𝑙𝑎𝑡𝑒𝑑 𝑆𝑎𝑓𝑡𝑒𝑦 𝐹𝑎𝑐𝑡𝑜𝑟 = = 82.6
38.7 𝑝𝑠𝑖

5. Rotary Axis 2 Mohr’s Circle

Figure 27: Rotary Axis 2 Stress Element

𝜎𝑥 = 267𝐾𝑃𝑎

𝑁
𝜎𝑦 = 0.00
𝑚2

𝜏𝑥𝑦 = 23.3𝐾𝑃𝑎

𝜎𝑝1 = 267𝐾𝑃𝑎

𝜎𝑝2 = 0.00𝐾𝑃𝑎

𝜎𝑝3 = −2.02𝐾𝑃𝑎

𝜏𝑚𝑎𝑥 = 133𝐾𝑃𝑎
 Arm 2 Mohr's Circle

21

16

11

6
𝜏 KPa

1
-3 47 97 147 197 247
-4

-9

-14

-19

-24
σ KPa

Figure 28: Rotary Axis 2 Mohr’s Circle

6. Mass

Figure 29: Rotary Axis 2 Mass Table

7. Deflection
The deflection of the whole beam was calculated as one therefore is no separate deflection
calculation for rotary axis 2.