Cycloidal-CV50 Motion-Law
Contents
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:
Segment Parameters of RAMP |
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| • | 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.