CSC 297 Robot Construction: Structure
Structure
Introduction
Structural Scaling Rules

Mass ~ x^{3}

Surface area ~ x^{2}

Tensile/compressive/beam strength ~ x^{2}

Beam stiffness ~ width * depth^{2}
(~ diameter^{3} for circular rod)

Beam deflection ~ force * length^{3} / stiffness

Strength of a beam ~ material_strength * width * depth^{2} / length

Stress in beam ~ force * length / (width * depth^{2})

Cantilever deflection = 16 * double_end_support_deflection
(= 128 * double lock?)

Torsional stiffness of a circular rod ~ diameter^{4}

Torsional stiffness of a rectangular element ~
short_edge^{3} * long_edge

Torsional deflection ~ torque * length / stiffness

Support of cantilevered member needs area/strength ~equivalent to
crosssection of beam. Same with spliced beams.
= more bolts than you might think.
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