Study the best configurations _ Case 3

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Case 3: 2 arms in series

Distance between motors: 50 mm

• L1 = 100;
• L2 = 150;
• y _ work area = -130 mm
• x_work area = same vertical as the first motor

Conclusion:

• Since the motors are places in series the error will accumulate and be greater than caso 1 #1 and case 2 #2.
• The maximum torque is higher than case 1. For case 2, from motor 1 is equal and from motor 2 the difference is not considerable. On the right side it is smaller but on the left side it is larger (component at x has a weight of 3x).