25.Rotary Actuator Calculation
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ROTARY ACTUATOR CALCULATION - VERTICAL M S.NO DESCRIPTION SYMBOL FORMULA UNIT 1 Load type - - 2 Rotation angle θ - deg 3 Rotation time t - sec 4 Mass of load m - kg 5 H - mm 6 Clamping force F - N 7 l - mm 8 Static Load Ts Fxl/1000 N-m 9 Min. Effective torque requirement Teff - N-m 10 Coefficient of friction μ - - 11 Resistance load Tf N-m 12 Min. Effective torque requirement Teff 5xTf N-m 13 Ia - kg-mm^2 14 Calculated angular velocity (max.) ω rad/sec 15 Calculated angular acceleration (max.) α rad/sec^2 16 Inertial load Ta N-m 17 Min. Effective torque requirement Teff 10xTa N-m 18 Rotation time for 90˚ - - sec 19 Thrust load Ft mx9.8 N 20 Load moment M FtxH N-m 21 Kinetic energy K J PREPARED BY: PREPARATION DATE: DATE LAST MODIFIED: 18/10/2010 VALIDATED BY: VALIDATION DATE: MACHINE BUILDING AND AUTOMATION DESIGN CALCULATION Ts/ Tf/ Ta Displacement between centre of gravity and rotational axis Displacement of clamping force from actuator axis (μxmx9.8)x (H/1000) Net moment of inertia of load about actuator axis (0.035xθ)/ t (0.035xθ)/ t^2 (Ia/ 10^6)xα (1/2)xIaxω ^2
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Transcript of 25.Rotary Actuator Calculation
ROTARY ACTUATOR CALCULATION - VERTICAL MOUNTING
S.NO DESCRIPTION SYMBOL FORMULA UNIT VALUE
1 Load type Ts/ Tf/ Ta - -
2 Rotation angle θ - deg 15
3 Rotation time t - sec 0.5
4 Mass of load m - kg 7
5 H - mm 58
6 Clamping force F - N 45
7 Displacement of clamping force from actuator axis l - mm 15
8 Static Load Ts Fxl/1000 N-m 0.675
9 Min. Effective torque requirement Teff - N-m 0.675
10 Coefficient of friction μ - - 0.2
11 Resistance load Tf N-m 0.79576
12 Min. Effective torque requirement Teff 5xTf N-m 3.9788
13 Net moment of inertia of load about actuator axis Ia - kg-mm^2 23500
14 Calculated angular velocity (max.) ω rad/sec 1.05
15 Calculated angular acceleration (max.) α rad/sec^2 2.1
16 Inertial load Ta N-m 0.04935
17 Min. Effective torque requirement Teff 10xTa N-m 0.4935
18 Rotation time for 90˚ - - sec 3
19 Thrust load Ft mx9.8 N 68.6
20 Load moment M FtxH N-m 3.9788
21 Kinetic energy K (1/2)xIaxω^2 J 0.012954375
PREPARED BY: PREPARATION DATE:
DATE LAST MODIFIED: 18/10/2010
VALIDATED BY: VALIDATION DATE:
MACHINE BUILDING AND AUTOMATION DESIGN CALCULATION
Displacement between centre of gravity and rotational axis
(μxmx9.8)x(H/1000)
(0.035xθ)/t
(0.035xθ)/t^2
(Ia/10^6)xα
ROTARY ACTUATOR CALCULATION - HORIZONTAL MOUNTING
S.NO DESCRIPTION SYMBOL FORMULA UNIT VALUE
1 Load type Ts/ Tf/ Ta - -
2 Rotation angle θ - deg 15
3 Rotation time t - sec 0.2
4 Mass of load m - kg 5
5 L - mm 7
6 Clamping force F - N 75
7 Displacement of clamping force from actuator axis l - mm 10
8 Static Load Ts Fxl/1000 N-m 0.75
9 Min. Effective torque requirement Teff - N-m 0.75
11 Resistance load Tf mx9.8xL N-m 343
12 Min. Effective torque requirement Teff 5xTf N-m 1715
13 Net moment of inertia of load about actuator axis Ia - kg-mm^2 257
14 Calculated angular velocity (max.) ω rad/sec 2.625
15 Calculated angular acceleration (max.) α rad/sec^2 13.125
16 Inertial load Ta N-m 0.003373125
17 Min. Effective torque requirement Teff 10xTa N-m 0.03373125
18 Rotation time for 90˚ - - sec 1.2
19 Radial load Fr mx9.8 N 49
20 Load moment M FrxL N-m 0.343
21 Kinetic energy K (1/2)xIaxω^2 J 0.000885445
PREPARED BY: PREPARATION DATE:
DATE LAST MODIFIED: 18/10/2010
VALIDATED BY: VALIDATION DATE:
MACHINE BUILDING AND AUTOMATION DESIGN CALCULATION
Displacement between centre of gravity and rotational axis
(0.035xθ)/t
(0.035xθ)/t^2
(Ia/10^6)xα
INPUT VALUE
OUTPUT VALUE
DERIVED VALUE
Note: 1. The effective torque requirement is to be used in conjunction with supplier tables and operating pressure to select the rotary actuator. 2. Only mass moment of inertia is to be considered. 3. The tables given here are from SMC product catalogue. 4. In case of
multiple loads, the highest of the effective torques is to be considered for selection.
ROTARY ACTUATOR CALCULATION - VERTICAL MOUNTING
REMARKS
Ts-Static Load
Tf-Resistance Load
Ta-Inertial Load
From 3D model requirement
For static load calc. only
For resistance load calc. only
From MI calc. sheet
For inertial load calc. only
*Verification Value*
*Verification Value*
*Verification Value*
*Verification Value*
PREPARATION DATE:
VALIDATION DATE:
ROTARY ACTUATOR CALCULATION - HORIZONTAL MOUNTING
REMARKS
Ts-Static Load
Tf-Resistance Load
Ta-Inertial Load
From 3D model requirement
For static load calc. only
From MI calc. sheet
For inertial load calc. only
*Verification Value*
*Verification Value*
*Verification Value*
*Verification Value*
PREPARATION DATE:
VALIDATION DATE:
Note: 1. The effective torque requirement is to be used in conjunction with supplier tables and operating pressure to select the rotary actuator. 2. Only mass moment of inertia is to be considered. 3. The tables given here are from SMC product catalogue. 4. In case of
multiple loads, the highest of the effective torques is to be considered for selection.
ROTARY ACTUATOR CALCULATION - VERTICAL MOUNTING
S.NO DESCRIPTION SYMBOL FORMULA UNIT VALUE REMARKS
1 Load type Ts/ Tf/ Ta - -
Ts-Static Load
Tf-Resistance Load
Ta-Inertial Load
2 Rotation angle θ - deg 15
3 Rotation time t - sec 0.5
4 Mass of load m - kg 7
5 H - mm 58 From 3D model requirement
6 Clamping force F - N 45
For static load calc. only7 Displacement of clamping force from actuator axis l - mm 15
8 Static Load Ts Fxl/1000 N-m 0.675
9 Min. Effective torque requirement Teff - N-m 0.675
10 Coefficient of friction μ - - 0.2
For resistance load calc. only11 Resistance load Tf N-m 0.79576
12 Min. Effective torque requirement Teff 5xTf N-m 3.9788
13 Net moment of inertia of load about actuator axis Ia - kg-mm^2 23500 From MI calc. sheet
14 Calculated angular velocity (max.) ω rad/sec 1.05
15 Calculated angular acceleration (max.) α rad/sec^2 2.1
16 Inertial load Ta N-m 0.04935For inertial load calc. only
17 Min. Effective torque requirement Teff 10xTa N-m 0.4935
18 Rotation time for 90˚ - - sec 3 *Verification Value*
19 Thrust load Ft mx9.8 N 68.6 *Verification Value*
20 Load moment M FtxH N-m 3.9788 *Verification Value*
21 Kinetic energy K (1/2)xIaxω^2 J 0.012954375 *Verification Value*
PREPARED BY: PREPARATION DATE:
DATE LAST MODIFIED: 18/10/2010
VALIDATED BY: VALIDATION DATE:
ROTARY ACTUATOR CALCULATION - HORIZONTAL MOUNTING
S.NO DESCRIPTION SYMBOL FORMULA UNIT VALUE REMARKS
1 Load type Ts/ Tf/ Ta - -
Ts-Static Load
Tf-Resistance Load
Ta-Inertial Load
2 Rotation angle θ - deg 15
3 Rotation time t - sec 0.2
4 Mass of load m - kg 5
5 L - mm 7 From 3D model requirement
6 Clamping force F - N 75
For static load calc. only7 Displacement of clamping force from actuator axis l - mm 10
8 Static Load Ts Fxl/1000 N-m 0.75
9 Min. Effective torque requirement Teff - N-m 0.75
11 Resistance load Tf mx9.8xL N-m 343
12 Min. Effective torque requirement Teff 5xTf N-m 1715
13 Net moment of inertia of load about actuator axis Ia - kg-mm^2 257 From MI calc. sheet
14 Calculated angular velocity (max.) ω rad/sec 2.625
15 Calculated angular acceleration (max.) α rad/sec^2 13.125
16 Inertial load Ta N-m 0.003373125For inertial load calc. only
17 Min. Effective torque requirement Teff 10xTa N-m 0.03373125
18 Rotation time for 90˚ - - sec 1.2 *Verification Value*
19 Radial load Fr mx9.8 N 49 *Verification Value*
20 Load moment M FrxL N-m 0.343 *Verification Value*
21 Kinetic energy K (1/2)xIaxω^2 J 0.000885445 *Verification Value*
PREPARED BY: PREPARATION DATE:
DATE LAST MODIFIED: 18/10/2010
VALIDATED BY: VALIDATION DATE:
INPUT VALUE
OUTPUT VALUE
DERIVED VALUE
MACHINE BUILDING AND AUTOMATION DESIGN CALCULATION
Displacement between centre of gravity and rotational axis
(μxmx9.8)x(H/1000)
(0.035xθ)/t
(0.035xθ)/t^2
(Ia/10^6)xα
MACHINE BUILDING AND AUTOMATION DESIGN CALCULATION
Displacement between centre of gravity and rotational axis
(0.035xθ)/t
(0.035xθ)/t^2
(Ia/10^6)xα
Note: 1. The effective torque requirement is to be used in conjunction with supplier tables and operating pressure to select the rotary actuator. 2. Only mass moment of inertia is to be considered. 3. The tables given here are from SMC product catalogue. 4. In case of
multiple loads, the highest of the effective torques is to be considered for selection.
