Download Master`s thesis: Humanoid robot for sign language Candidates: Guy

Table 44: Maximum and minimum angel depending on the shape of the disc
𝛼 = sin−1
Maximum angle within a radius of is 3.45 mm
α=
3.45 𝑚𝑚 180
∗
[°]
𝑅
𝑃𝐼
20.1818
Additional length due to the difference of the holes at the guidance to the center of the disc
A (mm) =
50
60
70
80
In both directions‼
30
40
90
100
Y add =
0.813957
0.611354
0.489413 0.407993 0.349786 0.306106 0.2721214 0.244927
Y total =
4.263957
4.061354
3.939413 3.857993 3.799786 3.756106 3.7221214 3.694927
Max α =
25.23904
23.9623
23.19996 22.69337 22.33236 22.06206 21.852111 21.68433
The situation of the exact calculation is given in Figure 214.
The red part of Table 43is the part that cannot be used due to 1 mm difference of the cable at the guidance to the center of the RC servo motor disc and the
inner radius of the RC servo motor disc. The green and yellow part of the table are solutions of the left part of the equation related to the angle of the disk at
different distances to the guidance. Now each mm extension can be translated to a certain angle of the RC servo motor disc.
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