Robot Arm Actuator Calculator

How the three-joint planar robot arm works

Three revolute joints move in a vertical plane. Each joint has its own linear actuator with pins defined relative to that joint. Distal link weights and tool loads contribute to upstream joint torque. The specified pose path is quasi-static; motor acceleration, torsion, collision clearance and bearing loads need separate checks.

Measurements for this application

Measure each link and joint-local actuator pins. Weigh each link and tool independently; enter the payload at the tool tip.

• Record shoulder / proximal: link length, shoulder / proximal: link weight, shoulder / proximal: start joint angle, shoulder / proximal: end joint angle, shoulder / proximal: base pin local x. Measure between pivot or mounting-pin centers.
• Account for tool plus payload weight, horizontal tool / fingertip force, resisting torque per joint. Use the heaviest permitted operating condition.
• Enter the actual motion limits and check the mechanism at both ends and through the full path.

Choosing an actuator for three-joint planar robot arm

The calculator checks the required force, stroke and mounting length before displaying variants. Super Duty actuators take priority, followed by Utility and C-Series where their dimensions and ratings fit. Industrial actuators take priority above 450 lbf of moving load or required actuator force; feedback Micro Pen actuators take priority for the humanoid finger.

Compare exact variants, set travel limits for any unused stroke, and verify the controller, duty cycle, environment and mounting details. Save the design or download its engineering brief to keep your measurements and results together.

What does this calculator solve?

Three-joint planar robot arm is solved along the entered start-to-end path. The animation follows those measurements and the force plot shows the demand through the move. The stated model assumptions define which parts of the real mechanism are included.