I need two stepping motors.
manipulator's weight is 3kg.( all of 3d parts is less than 1kg. i guess 5 stepper motors are 2kg
and sometimes there is external force 1kg.
- manipulator's Z axis rev.
one motor directly connects table. its D is 60mm. ( i guess it need timing pulley for work.)
And on the table, a manipulators put on the center.
I will use 4 nema17 motor with 2 cnc shield and 4 photo interrupter.
board : arduino mega
power : 12V *29A ( 350w) (I bought more big one. ㅠ^ㅠ)
work-time : 10-15sec
accel-time : 1sec ( decel-time : 1sec)
i will make it works slow, because other motors work by wire ( each joint ( elbow, wrist) has closed wire loop.)
they change loops' length to revolving joint
So, i will adjust running time to them.
I think,
Torque is 4x9.8x6 N-cm= 60 N-cm = 0.6N-m.
Nema 23 (height 113mm) (3.6N-m)(only think torque) is suitable in this condition?
- manipulator's y axis rev.
it works on base. and its weight affects to base-z-axis-motor's choice.(Q1)
it have 20cm length. and take force at the end. 20N(2kgx9.8m/s^2)
it need 0.2x20N-m = 4N-m?
accel-time and work time is same with others
work-time : 10-15sec
accel-time : 1sec ( decel time : 1sec)
Ans lastly, if not weird , it is okay to increase accel-time.