Harmonic Drive FHA Series, Руководство пользователя

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100 1000 3000 30 300
10
100
300
30
Mass: W (k g)
1 N
•
m
FHA- 40C-50
FHA-32C-50
FHA- 17C-50
300 N
•
m
Ex. torque calculation (fr iction=0.1)
FHA : (ratio: 1/50) 30% torque of maximum torque
7 N
•
m
10 N
•
m
20 N
•
m 200 N
•
m
50 N
•
m
30 N
•
m
5 N
•
m
3 N
•
m
2 N
•
m
FHA-25C-50
100 N • m
Harmonic Drive LLC 800-921-3332
Chapter 2 Guidelines for sizing
24
100 1000 3000 30 300
1
10
30
3
Li near speed ( mm/mi n)
Screw pitch (mm)
Speed (r/mi n)
35r/min
20r/min
50r/min
70r/min
100r/min
Mass: W
Friction:
Radius:r
2-4 Duty cycles
When a duty cycle includes many frequent start and stop operations,
the actuator generates heat by high starting and braking current.
Therefore, it is necessary to study the duty cycle profile.
The study is as follows:
2-4-1 Actuator speed
Calculate the required actuator speed (r/min) to drive the load.
For linear motion, convert with the formula below:
Linear speed (mm/min)
Rotary speed (r/min) = (9)
Pitch of screw (mm)
Select a reduction ratio from [50], [100] and [160] of an actuator
of which the maximum speed is more than the required speed.
2-4-2 Load inertia
Calculate the load inertia driven by the FHA-C series actuator.
Refer to appendix 1 for the calculation.
Tentatively select an FHA-C actuator referring to section
[2-1 allowable load inertia] with the calculated value.
2-4-3 Load torque
Calculate the load torque as follows:
• Rotary motion
The torque for the rotating mass [W] on the friction ring of radius [r]
as shown in the figure to the right.
T = 9.8 x
μ
x W x r
T: torque (N•m)
μ
: coefficient of friction
W: mass (kg)
r: radius of friction face (m)
In the right graph, the oblique solid lines
for torque have been calculated with the
coefficient of the friction of
μ
=0.1.
The oblique dot-chain lines show
20% torque of actuators converted from
300% torque corresponding to its maximum torque.