Inverse dynamic - motor power calculation

[Anonymous]

Hi, I'm designing a 4 link arm and need to calculate the minimue power requrired for each motor. Is anyone know how to calculate/simulate for 2 simple joints if I have the mass/moment of inertial and speed/accelaration info?

Thanks,

[Anonymous]

Sure!

Just edit the joint, and into the proper DOF tab, set an imposed movement (speed or acceleration).

Then you can see through the graph the maximun momentum you have to give > With that momentum you can set your power requirements

[Anonymous]

Thank you for your reply. But don't you think the U_imposed is the force/torque to drive the motion? I think the total momentum includes all the reaction moments, which is bigger than the driving torque, am I right? Do you have a typical example or an inverse dynamic on a robot arm?