Robot Joint Actuator Torque-Speed Envelope

Every robot joint is a trade between torque and speed, and different actuator technologies make that trade differently. This simulator drives a 3D winch lifting a hanging mass with a chosen actuator — a brushed DC motor, a geared servo, or a hydraulic cylinder — and plots the live operating point where the actuator's own torque-speed curve intersects the load line set by the hanging mass. Change the supply duty cycle, the gearbox reduction ratio, or the payload and watch the winch speed up, slow down, or stall exactly as the governing τ(ω) relationship for that actuator predicts, with instantaneous torque, speed and mechanical power read out live.