HW1_Sol

HW1_Sol - ME 576 1. (a) Required gear ratio V = rpm x Κ G...

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Unformatted text preview: ME 576 1. (a) Required gear ratio V = rpm x Κ G x 1 ΚG = ( 1000 mm ) min = 0.556 1800 x 1 (b) Encoder gain = 1 1 = = 100 BLU 0.01 (c) Freq = 100 × 1000 = 1,667 60 (d) Max. travel length = (216 -1) x BLU = (216 -1) x 0.01 = 655.35mm Homework #1 2. G 0 X0Y0 → X200Y150 distance = 2002 + 1502 = 250 100 = 2.5 sec i acceleration time = 40 2.5 × 100 distance = = 125 mm 2 10 100 − 60 = 2.496 = 2.5 sec i deceleration time = 40 distance = 125 mm G1 X30Y20 G2 G2 G1 G0 distance = 302 + 202 = 36.06 36.06 × 60 time = = 216.36 sec 10 X40Y0R20 distance = π ⋅ r = π x 20 = 62.83 62.83 x 60 = 376.98 sec time = 10 X-20Y-20R20 376.98 time = = 188.5 sec 2 50 × 60 X-50 time= = 300 sec 10 X0Y0 : 5 sec Total time = 2 × 5 + 216.36 + 376.98 + 300 = 1091.4 sec ...
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