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 the Motion-Law Selector

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.