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COM of the Ex-106 and Rx-64

Bioloid robot kit from Korean company Robotis; CM5 controller block, AX12 servos..
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COM of the Ex-106 and Rx-64

Post by NEVER » Fri Oct 09, 2009 7:52 am

Post by NEVER
Fri Oct 09, 2009 7:52 am

hi,

I am doing a project on 3D simulation of a Robot. Has someone figured out the COM of the Robotis motors?
hi,

I am doing a project on 3D simulation of a Robot. Has someone figured out the COM of the Robotis motors?
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Post by limor » Sat Oct 10, 2009 12:49 am

Post by limor
Sat Oct 10, 2009 12:49 am

by COM do you mean communications / protocol / interface ?
by COM do you mean communications / protocol / interface ?
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Post by i-Bot » Sat Oct 10, 2009 1:11 am

Post by i-Bot
Sat Oct 10, 2009 1:11 am

I was thinking COM was Centre of Mass.

If someone can send me some freebies, I am happy to measure it. I should probably have a dozen of each for about 2 years to get statistically significant results and be sure it doesn't change over time !
I was thinking COM was Centre of Mass.

If someone can send me some freebies, I am happy to measure it. I should probably have a dozen of each for about 2 years to get statistically significant results and be sure it doesn't change over time !
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COM of the Ex-106 and Rx-64

Post by NEVER » Sat Oct 10, 2009 6:12 am

Post by NEVER
Sat Oct 10, 2009 6:12 am

Yes, By COM I mean Center of mass.
Yes, By COM I mean Center of mass.
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Post by Suicidal.Banana » Sat Oct 10, 2009 3:18 pm

Post by Suicidal.Banana
Sat Oct 10, 2009 3:18 pm

not that it matters alot, but might be better to call it COG, center of gravity, since COM already reffers to your com-port.
Ontopic; sorry i dont know, if you/some1 find out please share
not that it matters alot, but might be better to call it COG, center of gravity, since COM already reffers to your com-port.
Ontopic; sorry i dont know, if you/some1 find out please share
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Post by i-Bot » Sat Oct 10, 2009 4:48 pm

Post by i-Bot
Sat Oct 10, 2009 4:48 pm

I am not sure that your simulation demands a very accurate measurement.

Based on the other servos, I would suggest that the COM along the long axis of the servo and parallel to the servo output shaft will lie in a central plane.. The COM along the long axis a right angles to the servo output shaft ( parallel to output disk will be shifted towards the output disk because the gears are that end and the electronics at the other ( maybe 60/40 ratio).

About the short axis, the motor is at one end and the output shaft at the other. The motor is heavier, so I would estimate again about 60/40 ratio.

While awaiting true data, I suggest you tstart with these valuse and do a sensitivity check on the simulation.
I am not sure that your simulation demands a very accurate measurement.

Based on the other servos, I would suggest that the COM along the long axis of the servo and parallel to the servo output shaft will lie in a central plane.. The COM along the long axis a right angles to the servo output shaft ( parallel to output disk will be shifted towards the output disk because the gears are that end and the electronics at the other ( maybe 60/40 ratio).

About the short axis, the motor is at one end and the output shaft at the other. The motor is heavier, so I would estimate again about 60/40 ratio.

While awaiting true data, I suggest you tstart with these valuse and do a sensitivity check on the simulation.
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