Harmonic Drive HMA Series, Руководство пользователя

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2-3 Examining the operating status
2-4
S
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Appe
Load torque calculation
Calculate the load torque as follows:

Rotary motion
The rotary torque for rotating mass W on the ring of
radius r from the center of rotation is shown in the
figure to the right.
T: Rotary torque (Nm)
μ
: Friction coefficient
W: Mass (kg)
r: Average radius of friction side (m)
The right graph gives a calculation example
where the friction coefficient μ is assumed to b
e
0.1 and the horizontal axis and vertical axis
represent the mass and rotational radius of
friction side, respectively. The motor toque
shown in the graph indicates 20% of the
maximum torque.

Linear operation (horizontal operation)
The rotary torque for when mass W moves horizontally due to the screw of pitch P is shown below.
T: Rotary torque (Nm)
μ
: Friction coefficient
W: Mass (kg)
P: Screw feed pitch (m)

Linear operation (vertical operation)
The rotary torque for when mass W moves vertically due to the screw of pitch P is shown below.
π ×
× × µ × =
2
P
W 8 . 9 T
π ×
× × =
2
P
W 8 . 9 T
r W 8 . 9 T
× × µ × =
Example of rotary torque calculation (friction coefficient = 0.1)
HMA: torque of maximum torque is shown.
Radius: r
Mass: W
Friction: μ
Pitch: P
Mass: W
Mass: W
Pitch: P
Friction: μ
R
adi
us
r
o
f
fr
ic
ti
on
s
ide (
m
m
)
Mass W (kg)