IAI ELECYLINDER EC-RTC12, Instruction Manual

Page: 56 / 226

1.3 Operating conditions
1-30
1. Specifications
● Example of calculation for load moment and thrust load
M
1
, M
2
, M
3
: Loaded weight [kg]
h
0
: Load moment datum position [m]
h
1
, h
2
, h
3
: Height of load gravity center from output shaft attachment face [mm]
R
2
, R
3
: Rotation radius at load gravity center [mm]
F
4
: Thrust external force [N]
R
4
: Distance of thrust external force center [mm]
F
5
: Radial external force [N]
h
5
: Height of radial external force from output shaft attachment face [mm]
g : Gravitational acceleration [m/s 2 ]
ω : Angular velocity [rad/s]
● Example of calculation for moment load M
T
M
T
= Moment by g moment by centrifugal force + moment by thrust external force +
moment by radial external force [N·m]
Moment by gravity = (M
1
g + M
2
gR
2
+ M
3
gR
3
) × 10 -3 [N·m]
Moment by centrifugal force = {M
2
R
2
ω 2 (h
0
+ h
2
) + M
3
R
3
ω 2 (h
0
+ h
3
)} × 10 -6 [N·m]
Moment by thrust external force = F
4
R
4
× 10 -3 [N·m]
Moment by radial external force = F
5
h
5
× 10
-3
[N·m]
● Example of calculation for thrust load F
S
F
S
= (M
1
+ M
2
+ M
3
) g + F
4
[N]
Gravity