Actuator Sizing

actuator-sizing

This skill estimates whether a simplified robot-dog actuator set has enough torque, speed, and thermal margin for early digital-twin gates. It consumes requirement contracts and architecture assumptions, then writes machine-readable actuator reports.

When To Use

Use this skill for:

• Robot-dog hip/knee/ankle torque margin checks.
• Selecting or validating actuator specs before CAD/simulation iteration.
• Producing actuator_spec.yaml and torque_margin.json.
• Feeding robot-dog-digital-twin G2/G3 blocker decisions.

Workflow

1. Read requirements.yaml for mass, payload, speed, and slope targets.
2. Read architecture.yaml for leg count and joints per leg.
3. Load an actuator preset or use the built-in MVP preset.
4. Estimate joint torque and speed requirements.
5. Write reports/actuator_spec.yaml, reports/torque_margin.json, and reports/actuator_sizing_report.md.

Commands

python skills/actuator-sizing/scripts/estimate_torque.py skills/actuator-sizing/examples/quadruped_mvp
python skills/actuator-sizing/scripts/write_report.py skills/actuator-sizing/examples/quadruped_mvp

Rules

• Keep calculations deterministic and conservative.
• Treat torque margin below 20% as a blocker.
• Do not select real purchasable parts unless a user explicitly provides a candidate list.
• Do not import sibling subskill code. Read requirement files only.

References

• references/torque-model.md for formulas.
• references/thermal-margin.md for MVP heat checks.
• references/output-contract.md for report fields.
• references/examples.md for sample project layout.