Isaac Sim Version
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
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Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
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GPU Information
- Model: RTX4090
- Driver Version:
Topic Description
How to get Flipper’s torque?
Detailed Description
Hello,
I’m trying to determine the required torque for a flipper mechanism that will be mounted on a mobile base via a joint. The flipper itself weighs 6kg. My goal is to calculate the torque needed for the flipper to lift itself from a horizontal position (0 degrees) upwards by 30 degrees.
I’ve looked into some official documents and user examples regarding torque calculation but haven’t fully grasped the methods. I understand that for dynamic movements, factors like acceleration and inertia are crucial. However, for this initial stage, I’m primarily interested in the static torque required to hold the position or lift it very slowly.
Could you offer some guidance or ideas on how to approach this calculation? Specifically:
- What information about the flipper’s geometry is essential (e.g., its overall length, and critically, the location of its center of mass relative to the pivot point)?
- Are there standard formulas for this kind of static torque calculation?
Furthermore, I’m considering how to model this in a simulator like Isaac Sim to eventually verify or refine these calculations:
- If I only have a visual mesh of the flipper in Isaac Sim, can I derive or accurately approximate the necessary physical properties (like the center of mass and moments of inertia) required for torque estimation?
- Or is it generally essential to create a separate URDF file for the flipper, meticulously defining its inertial properties (mass, center of mass, inertia tensor) and joint parameters, to get a reliable torque assessment, even for static or quasi-static scenarios?
I’m eager to understand the correct approach to both the theoretical calculation and the practical simulation setup. Any success stories, common pitfalls, or insights you could share would be greatly appreciated.
Thank you.
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