12
5-2
．
Kinetic Energy
Allowable kinetic energy of CRB2BW40 is 0.04 (J) when rubber cushion is used, and it is 0.03 (J)
when rubber cushion is not used.
Since Rotary Actuator reaches the rotation end during acceleration, terminal acceleration "ω" can be
found by
：
ω = 2θ / t
θ:
：
Rotation angle (rad)
t:
：
Rotation time (s)
Since Kinetic energy E is
：
E = 1 / 2
・
I
・
ω
2
Rotation time "t" of Rotary Actuator is
：
t
＝
E
I
2
2
E
：
Allowable kinetic energy (J)
I
：
Moment of inertia (kg
・
m
2
)
θ
：
Rotating angle (rad)
180
o
= 3.14 rad
In uniformly angular accelerated motion, angular speed ω and seconds of arc θ are found as follows.
ω
＝
x t
(1)
θ
＝ ∫
t d t
＝
1 / 2
t
２
+
C
(2)
C is integration constant.
Since seconds of arc θ is θ = 0 at t = 0, integration constant C is C = 0.
θ = 1 / 2
t
2
= 1 / 2 ω t
Therefore,
ω = 2 θ / t
2020-08-27 13:47
DI006501
Содержание CRB2BW40 Series
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