https://teddyrookbook.com/robotics/mechanics-and-motion/Recent content in Mechanics and Motion on Teddy Rook Bookhttps://teddyrookbook.com/img/share.jpghttps://teddyrookbook.com/img/share.jpgHugoenhttps://teddyrookbook.com/robotics/mechanics-and-motion/gears/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mechanics-and-motion/gears/A small gear driving a big one trades speed for torque by the ratio of their teeth. Mechanics and Motion · Robotics Ladderhttps://teddyrookbook.com/robotics/mechanics-and-motion/torque-motors/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mechanics-and-motion/torque-motors/Torque is force times lever arm; a motor must beat the load's torque, m g L, with room to spare. Mechanics and Motion · Robotics Ladderhttps://teddyrookbook.com/robotics/mechanics-and-motion/wheel-speed/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mechanics-and-motion/wheel-speed/Rolling speed is angular speed times radius: v = ωr, and rpm must be turned into radians per second first. Mechanics and Motion · Robotics Ladderhttps://teddyrookbook.com/robotics/mechanics-and-motion/coordinate-frames/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mechanics-and-motion/coordinate-frames/A point seen by the robot becomes a point on the map by a rotation and a shift. Mechanics and Motion · Robotics Ladderhttps://teddyrookbook.com/robotics/mechanics-and-motion/forward-kinematics/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mechanics-and-motion/forward-kinematics/Given the joint angles, the hand is at x = L1 cos θ1 + L2 cos(θ1 + θ2), y = L1 sin θ1 + L2 sin(θ1 + θ2). Mechanics and Motion · Robotics Ladderhttps://teddyrookbook.com/robotics/mechanics-and-motion/inverse-kinematics/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mechanics-and-motion/inverse-kinematics/Given where the hand should go, the law of cosines gives the elbow angle; there are usually two answers, and sometimes none. Mechanics and Motion · Robotics Ladder