ChapterII

ChapterII - MAE 162M: Senior Mechanical Engineering Design...

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1 MAE 162M: Senior Mechanical Engineering Design Chapter II: Actuator Selection Via The Property Reflection Method
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2 2.1-A Typical Electromechanical System To control computer
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3 2.1 (cont.) • Subsystems: 1. Control Computer 2. Electromechanical System Digital System (electronic control) Analog System (O.A.) Actuator (D.C Motor) 3. Mechanical Systems Gear Systems (gears and rack) Planar linkage Elastic beam (lumped mass-spring- damper system)
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4 2.2 Reflection of Mechanical Properties for Actuator Selection
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5 2.2A: Gear-Shaft System • Purpose: to reflect all mechanical properties of a system to its actuator • Newton’s second law J: Moment of inertia f: Friction N: Number of teeth T: Torque F: Force (For 2D)
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6 2.2A (cont.) NOTE: reads Work done by the two gears are the same (assume low energy loss), thus: Define “Displacement Ratio”: 12 T 2 1 to T 21 1 1 1 1 1 1 1 1 21 T f J T f J T T in in + + = + = θ ± ± ± ± ± ± L L T f J T f J T T + + = + = 2 2 2 2 12 2 2 2 2 12 ± ± ± ± ± ± 2 12 1 21 = T T 1 2 12 21 = T T 21 1 2 n = (2.1) (2.2) (2.3) (2.4) 12 21 21 T n T =
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7 2.2A (cont.) If no slipping: 2 2 1 1 θ = r r 1 21 2 = n 22 1 1 n = ±± 1 1 n = ) ( 2 2 2 2 21 1 1 1 1 L in T f J n f J T + + + + = ± ± ± ± ± ± L T n f n f J n J 21 1 2 2 21 1 1 2 2 21 1 ) ( ) ( + + + + = ± ± ± It shows that both the inertia J 2 and the friction f 2 that refer to shaft 1 are amplified by times. If n 21 is less than 1, the effectiveness of J 2 on location 1 is reduced. If n>1, it is increased.
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This note was uploaded on 03/14/2012 for the course MAE 162D taught by Professor Shaefer during the Spring '11 term at UCLA.

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ChapterII - MAE 162M: Senior Mechanical Engineering Design...

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