M2/M4 ACTUATOR HELPER SHEET

DESIRED ROTATIONS
Maximum estimated rotations:
Hip  140° Knee  120° Ankle  110°

LINEAR TO ROTARY FORCE

Linear Force of 100lbs(440N) @ 1”(0.0254m) is 11.176 Nm.
Linear Force of 300lbs(1320N) @ 1.5”(0.0381m) is 50.3 Nm.

TRAVEL & VELOCITY

A 2” diameter pulley rotates 115° given a linear cable movement of 2”.
An x” pulley rotates 115° (1/pi*360) with x” of travel.
A linear velocity of x in/s connected to an x inch pulley results in a
rotational velocity of 2 rad/sec(115°/sec).

SIMULATED FORCES
A 27lb robot in creature library requires 6.34Nm at each knee when
standing with q.knee equal to .82 radians(47° off vertical).

STATIC FORCE ESTIMATION

A 50lb(223 N) robot with a 18” thigh and knee at 90° (internal angle)
requires a knee torque of 71 Nm total.

Tau = m*g*l*cos(theta)
Theta is the angle between
the thigh and horizontal. mass

Tau
mg
THE BALLSCREW AS A TRANSFORMER
The transformer relations are as follows:
v = n *ω
F = 1/ n *τ

MOTOR ANGULAR VELOCITY TO NUT LINEAR VELOCITY

6.28 radians/sec = 1 ballscrew lead/ sec.

[n] = [m/s / rad/s] = [meters/radian] = [meters]
For a 2mm lead ballscrew, n = [0.002 m/(2*pi)] = 0.0003
A motor speed of 1000 rpm(105 rad/s) corresponds to a nut linear velocity of 33
mm/s.

MOTOR TORQUE TO LINEAR FORCE

Consider an energy balance:

Linear Force* Ballscrew Lead = Motor Torque* 2π radians

For a 2mm ballscrew, 1/n = 1000*pi = 3141 [1/meters].

With a 2mm lead ballscrew, a motor torque of 1 Nm leads to a linear force of
3140N (~714 lbs).