Table 2 Joint torques of example cases
From: Flying watch: an attachable strength enhancement device for long-reach robotic arms
External reaction force (N) | Method | Torque 1 (Nm) | Torque 2 (Nm) | Torque 3 (Nm) | Torque 4 (Nm) | Torque 5 (Nm) | Torque 6 (Nm) | Torque 7 (Nm) | Torque 8 (Nm) | Torque 9 (Nm) |
|---|---|---|---|---|---|---|---|---|---|---|
[125,0,0] | No watch | 0.0 | 177.3 | 306.9 | 438.4 | 167.1 | 245.1 | 5.5 | 26.5 | 0.0 |
[125,0,0] | First | 18.3 | 284.8 | 108.2 | 173.6 | 118.8 | 216.8 | 86.3 | 12.2 | 0.0 |
[125,0,0] | Second | 1.7 | 234.1 | 241.7 | 241.7 | 77.9 | 197.4 | 1.5 | 12.1 | 0.0 |
[0,125,0] | No watch | 500.0 | 148.7 | 71.9 | 432.8 | 103.8 | 103.6 | 114.0 | 26.5 | 37.5 |
[0,125,0] | First | 357.2 | 98.0 | 603.0 | 32.4 | 307.0 | 39.3 | 194.0 | 12.0 | 37.5 |
[0,125,0] | Second | 341.6 | 226.0 | 331.0 | 237.1 | 69.3 | 160.6 | 224.9 | 14.2 | 37.5 |
[0,0,− 125] | No watch | 0.0 | 271.8 | 595.5 | 560.7 | 245.1 | 102.1 | 1.8 | 201.5 | 0.0 |
[0,0,− 125] | First | 18.3 | 515.0 | 122.9 | 324.2 | 144.0 | 426.7 | 24.4 | 181.7 | 0.0 |
[0,0,− 125] | Second | 33.3 | 387.6 | 404.0 | 404.1 | 116.7 | 333.3 | 10.8 | 187.4 | 0.0 |