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:
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 EditorCAN specify the:
The Position motion-value usually flows from the Previous-Segment to the START of the segment. CAN specify the:
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. |
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Cycloidal-CV50
Motion-Law Coefficients
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. |