CSC 297 Robot Construction: Structure
Structure
Introduction
Structural Scaling Rules
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Mass ~ x3
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Surface area ~ x2
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Tensile/compressive/beam strength ~ x2
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Beam stiffness ~ width * depth2
(~ diameter3 for circular rod)
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Beam deflection ~ force * length3 / stiffness
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Strength of a beam ~ material_strength * width * depth2 / length
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Stress in beam ~ force * length / (width * depth2)
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Cantilever deflection = 16 * double_end_support_deflection
(= 128 * double lock?)
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Torsional stiffness of a circular rod ~ diameter4
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Torsional stiffness of a rectangular element ~
short_edge3 * long_edge
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Torsional deflection ~ torque * length / stiffness
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Support of cantilevered member needs area/strength ~equivalent to
cross-section of beam. Same with spliced beams.
= more bolts than you might think.
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