5/13/2019 Arm Application Sizing Tool

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- given information -

Arm Dimension

Length A = 200 [mm]

Width B = 30 [mm]

Offset length r = 80 [mm]

Arm mass m = [kg]

Thickness C = 20 [mm]

Material Aluminum ρ = 2800 [kg/m 3]

Mechanism condition

Mechanism Condition = HorizontalOperation

Counter Balance mass mc = 0.5 [kg]

Distance from the center of rotation rc = 50 [mm]

System Efficiency η = 85 [%]

Other requirement(s)

Is it necessary to hold the load even after the power supply is turned off? → NO

Is it necessary to hold the load after the motor is stopped, but not necessary to hold after → YES
the power supply is turned off?

Operating conditions

Fixed speed operation Operating speed V1 = 200 [r/min]

Acceleration / deceleration time t1 = 5 [s]

Stopping accuracy

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Stopping accuracy Δθ = 45 [deg]

Δl = [mm]

Safety factor

Safety factor S·F = 2

- calculated result -

Load Inertia

JW = ( 1 / 12 ) ( ρ ( A × 10-3) ( B × 10-3) ( C × 10-3) )( ( A × 10-3) 2 + ( B × 10-3) 2 + 12 × ( r × 10-3) 2 )

= (1/12) × ( 2800 ×( 200 × 10-3) × ( 30 × 10-3) × ( 20 × 10-3) ) × ( ( 200 × 10- 2

3) 2 + ( = 3.2956e-3 [kg·m ]
30 × 10-3) 2 + 12 × ( 80 × 10-3) 2 )

Jc = m c × r 2c

= 0.5 ×( 50 × 10-3 )2 = 1.2500e-3 [kg·m 2]

JL = JW + Jc

= ( 3.2956e-3 + 1.2500e-3 ) = 4.5456e-3 [kg·m 2]

Required Speed

Vm = V1

= 200 = 200 [r/min]

Required Torque

T = ( Ta + TL ) ( Safety Factor )

= ( 1.9039e-2 + 0 )× 2
= 3.8078e-2 [N·m]

Acceleration Torque

Ta = JL ( Vm / ( 9.55 × t1 ))

= 4.5456e-3 × ( 200 / ( 9.55 × 5 ))

= 1.9039e-2 [N·m]

Load Torque

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TL =0

Required Stopping Accuracy

Δθ = Δθ

= 45 = 45 [deg]

Other requirement(s)

Holding Torque

- end of the report -

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