A Traditional Motion-Law.

A motion with continuous Velocity, Acceleration. and Jerk from start to end. However, there is a Jerk discontinuity at its start and end.

Also called the Inclined Sine motion-law (e.g. in VDI 2143)

Start Position

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

End Position

Start Velocity and End Velocity

Start Acceleration and End Acceleration

Start Jerk and End Jerk

None

Start-Range

End-Range

0 ≤ Start-Range < End-Range ≤ 1

Velocity Coefficient :

Acceleration Coefficients :

Jerk Coefficient :

Jerk at Crossover :

Torque Coefficients :

Dynamic Performance

This Motion-Law is recommended in applications where the period ratio is near to 5, but the input drive is stiff and the shaft speed does not fluctuate significantly under load. It has a good acceleration characteristics at the load and should be used in systems where low residual vibration (vibration after the end of the motion segment) is desired.

Pressure Angle Considerations

It gives a relatively large pressure angle - and so might need a large cam for a given lift and predetermined pressure angle limits, to reduce it.

Drive Torques

This Motion-Law is recommended in applications where no sudden change of input torque is a requirement. Its torque characteristics are particularly good in relation to the other Traditional Motion-Laws when the period ratio is less than approximately 10.