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# Cycloidal-CV50 Motion-Law

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# Cycloidal-CV50 Motion-Law

### Cycloidal-CV50 Cam-Law, Motion-Law

Cycloidal with 50% of the Segment-Width has Constant-Velocity - is a Traditional Motion-Law.

The Cycloidal-CV50 has three phases:

Phase 1: Acceleration Phase : first ½ wave of a Sine function : 25% of the Segment-Width; Ca = 8.378.

Phase 2: Constant Velocity : 50% of the Segment-Width.

Phase 3: Deceleration Phase : last ½ wave of a Sine function : 25% of the Segment Width; Ca = 8.378.

To do this motion:

1.Select a Ramp Motion-Law with

2.Use the Segment-Editor to edit the Motion-Law.

3.Edit the Segment Parameters Start-Fraction and End-Fraction to equal 0.25 [25% of the motion]

Segment Parameters of RAMP

#### Start-Fraction × 100 = % of Segment-Width for Acceleration

End-Fraction × 100 = % of Segment-Width for Deceleration

#### Segment-Editor AND Blend-Point Editor

CAN specify the:

Position at the START of the segment.

The Position motion-value usually flows from the Previous-Segment to the START of the segment.

CAN specify the:

Position at the END of the segment.

CANNOT specify the:

The Velocity values at the Start and End are [they are 0 units/s ]

The Acceleration values at the Start and End [ they are 0 units/s2 ]

The Jerk values are a function of the Positions at the Start and End of the segment, and its duration. Cycloidal-CV50

Symmetrical

Position, Velocity and Acceleration Continuity

Finite, but four Jerk discontinuities.

Motion-Law Coefficients

Velocity Coefficient: Cv = 1.33

Acceleration Coefficient: Ca= 8.378

Jerk Coefficient: Cj= ±105.276

Jerk at Cross-Over 0.25 Cross-over@0.25 q: Cj(co)= ±105.276 (Effectively)

#### Application Notes:

Dynamic Performance

This Motion-Law is recommended in applications where you need the peak velocity to be low when compared to others.

It has a large Peak Acceleration, with a short duration, thus more likely to induce vibrations.

Pressure Angle Considerations

It gives a relatively low pressure angle - because of its low peak velocity.

Drive Torques

This Motion-Law is not recommended in many applications as it will give a sudden change in torque. The input transmission rigidity would need to be high.