Cycloidal-CV50 Motion-Law

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Cycloidal-CV50 Motion-Law

Cycloidal-CV50 Cam-Law, Motion-Law

It is a Traditional Motion-Law.


The Cycloidal-CV50 has three phases:

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

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

Phase 3: Deceleration : last ½ wave of a Sine function : 25% of the Segment Width


To add a Cycloidal-CV50 motion:

1.Select a Ramp Motion-Law

2.Open the Segment Editor

3.Edit the Segment Parameters Start-Fraction = 0.25, End-Fraction = 0.25


Segment Parameters - for the RAMP motion-law

MT-SE-Ramp-SegPar25-25

Start-Fraction × 100 = 25% of Segment-Width

End-Fraction × 100 = 25% of Segment-Width

Start-Fraction × 100 = 25% of Segment-Width

End-Fraction × 100 = 25% of Segment-Width


Segment Editor and Blend-Point Editor

You CAN specify the:

Start-Position

The Start-Position usually flows from the End-Position of the Previous-Segment.

End-Position

You CANNOT specify the:

Start-Velocity, End-Velocity

Start-Acceleration, End-Acceleration

Start-Jerk, End-Jerk

Segment Parameters

MT-SE-Ramp-SegPar25-25

Start-Fraction × 100 = % of Segment-Width

End-Fraction × 100 = % of Segment-Width

Segment-Range

Start-Range

End- Range

0 ≤ Start-Range < End-Range ≤ 1

Cycloidal-CV50 (50% is Constant-Velocity (with Ramp Motion-Law / Cam-Law

Cycloidal-CV50 (50% is Constant-Velocity (with Ramp Motion-Law / Cam-Law

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.