The task involves rotating the robotic arm from one angle to another, as depicted in Figure...

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The task involves rotating the robotic arm from one angle to another, as depicted in Figure 4. The system's dynamic parameters are listed in a separate table. Additionally, Figures 6 and 7 illustrate the required motion planning and the torque-speed characteristics of the chosen servo motor, respectively. 1. Determine the system's inertia around the motor's rotational axis. 2. Establish a motion profile for the arm's rotating disk, ensuring it halts every 1/2 radians. 3. Ascertain the total torque that the system demands. 4. Compute the torque due to the system's load. 5. Establish the peak torque, incorporating a safety factor of 1.2. 6. Calculate the RMS torque value. 7. Evaluate whether the chosen servo motor is appropriate for the system based on its speed- torque profile. . Im: Rotor Inertia - Resistance to rotational change of the servo motor rotor, valued at 0.001 kg - m. m, : Source Pulley Mass - Weight of the motor-connected pulley, recorded at 0.4 kg. Imd: Driven Pulley Mass Moment - The driven pulley's resistance to angular acceleration, quantified 35kg. m. mbelt : Belt Mass - The connecting belt's weight, which is 0,2 kg. M: Arm Mass - Total weight of the robotic arm, which is 10 kg. L: Arm Length - Measured distance from the arm's pivot to its end, which is Q.8 m. * : Idler Pulley Radius - The non-motor pulley radius, sized 3.0.02 m. * : Drive Pulley Radius - Radius of the motor's pulley, sized at 0.04 m. 8: Desired Arm Angle - Final angylar position for the arm to reach, set at /2 radians. T: Motion Planning Time - Allocated time for executing the arm's motion, set at 4 seconds. Drive Mechanism: Arm Load Side QU MoterSide Figure 4: The arm of robot Travel Amount Trapezoidal Trajectory Deceleratie Figure 6: the required trajectory for the arm Dwell Time 0.5 Figure 5: The dimensions of the arm NX920-PS10- Maximum Torque Torque m 15- B 10- Permissible Torque Limited Duty Region Continuous Duty Region 100 150 200 250 Figure 7: torque-speed curve 300 The task involves rotating the robotic arm from one angle to another, as depicted in Figure 4. The system's dynamic parameters are listed in a separate table. Additionally, Figures 6 and 7 illustrate the required motion planning and the torque-speed characteristics of the chosen servo motor, respectively. 1. Determine the system's inertia around the motor's rotational axis. 2. Establish a motion profile for the arm's rotating disk, ensuring it halts every 1/2 radians. 3. Ascertain the total torque that the system demands. 4. Compute the torque due to the system's load. 5. Establish the peak torque, incorporating a safety factor of 1.2. 6. Calculate the RMS torque value. 7. Evaluate whether the chosen servo motor is appropriate for the system based on its speed- torque profile. . Im: Rotor Inertia - Resistance to rotational change of the servo motor rotor, valued at 0.001 kg - m. m, : Source Pulley Mass - Weight of the motor-connected pulley, recorded at 0.4 kg. Imd: Driven Pulley Mass Moment - The driven pulley's resistance to angular acceleration, quantified 35kg. m. mbelt : Belt Mass - The connecting belt's weight, which is 0,2 kg. M: Arm Mass - Total weight of the robotic arm, which is 10 kg. L: Arm Length - Measured distance from the arm's pivot to its end, which is Q.8 m. * : Idler Pulley Radius - The non-motor pulley radius, sized 3.0.02 m. * : Drive Pulley Radius - Radius of the motor's pulley, sized at 0.04 m. 8: Desired Arm Angle - Final angylar position for the arm to reach, set at /2 radians. T: Motion Planning Time - Allocated time for executing the arm's motion, set at 4 seconds. Drive Mechanism: Arm Load Side QU MoterSide Figure 4: The arm of robot Travel Amount Trapezoidal Trajectory Deceleratie Figure 6: the required trajectory for the arm Dwell Time 0.5 Figure 5: The dimensions of the arm NX920-PS10- Maximum Torque Torque m 15- B 10- Permissible Torque Limited Duty Region Continuous Duty Region 100 150 200 250 Figure 7: torque-speed curve 300

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1 Systems inertia around the motors rotational axis The systems total inertia can be calculated as I... View the full answer