Rotary
Rotary |
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Unbalanced Load and Incline Angle Motion profile position, b = 90° |
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 Incline, q = 0° Above Horizontal Side View |
 Incline, q = 90° Above Horizontal Side View |
 Incline, q = 0° Above Horizontal Bottom View |
 Incline, q = 45° Above Horizontal Side View |
Per the above formulae, the Disc Mass, MDisc, and Load Mass, MLoad, are only used for the Torque due to friction, Tm, and only have an effect when the incline angle, q, is < 90o
| Symbol | Description | Units |
|---|---|---|
| JDM | Inertia of drive mechanism | kg-m2 |
| JCoupling | Inertia of coupling | kg-m2 |
| JDisc | Inertia of disc | kg-m2 |
| JLoad | Inertia of load + payload | kg-m2 |
| TDM | Torque of drive mechanism | Nm |
| TThrust | Thrust torque at load | Nm |
| Tv | Torque vector at load | Nm |
| Tm | Torque due to friction | Nm |
| TUL | Torque due to unbalanced load | Nm |
| aDM | Rotational acceleration | rad/s2 |
| h | Efficiency of drive mechanism | 1 |
| b | Motion profile position | o |
| q | Incline angle above horizontal | o |
| mDisc | Disc friction coefficient | |
| MDM | Mass of drive mechanism | kg |
| MDisc | Mass of disc | kg |
| MLoad | Mass of load | kg |
| MUL | Mass of unbalanced load | kg |
| rUL | Offset radius of unbalanced load | m |
| g | Acceleration due to gravity = 9.81 | m/s2 |
| Fr | Radial force | N |
| Fa | Axial force | N |