Lecture2. - Transmision PDF
Lecture2. - Transmision PDF
Lecture2. - Transmision PDF
Transmisión
Paul Arauz, PhD
Ingeniería Mecánica
Motion transmission mechanisms
perform two different roles
1. they transmit motion from actuator to tool
when the actuator cannot be designed into
the same location as the tool with the desired
motion type
2. they increase or reduce torque and speed
between input and output shafts while
maintaining the power conservation between
input and output (output power is input power
minus the power losses)
The most common motion
transmission mechanisms fit into
one of two major categories:
• Hence
Gears
• The reflection of inertia and torque from the output shaft to the
input shaft can be determined by using the energy and work
relationships. Let the rotary inertia of the load on the output
shaft be J1 and the load torque be T1. Let us express the kinetic
energy of the load
• The necessary speed at the input shaft is related to the output shaft speed
by a kinematic relationship defined by the gear ratio
Gears
• The inertia and torque experienced at the input shaft due to the load alone
(which we call the reflected inertia and reflected torque) are
• Then
Lead-Screw and Ball-Screw mechanisms
• Then, the effective rotary inertia seen at
the input shaft (Jeff ) due to a translational
mass on the nut (m1) is
• It should be noted that m1 is in units of mass (not weight, weight = mass ⋅ g),
and the Jeff is the mass moment of inertia. Therefore if the weight of the load is
given, W1
Lead-Screw and Ball-Screw mechanisms
• Let us determine the reflected torque at the
input shaft due to a load force, F1. The work
done by a load force during a incremental
displacement is
• Combining the equations, we can obtain the actual relationship among the
applied voltage u, the rotor angular velocity ωm , and the motor torque τm .
DC Motor
• This net output power is a parabolic function of the angular velocity. It should
be noted that the net output power becomes maximum in the middle point of
the velocity axis, i.e. 50 % of the maximum angular velocity for a given
armature voltage u. This implies that the motor is operated most effectively at
50 % of the maximum speed.
DC Motor
Problem:
The torque-speed characteristics of a DC motor have been determined, as shown in the figure below.
Note that u is the voltage applied to the motor armature, τm and ωm are, respectively, the output torque
and angular velocity of the motor shaft. From this plot,
1.(a) Obtain the motor constant, torque constant, and armature resistance of the motor.
2.(b) When the motor is rotating at 100 radians per second, what is the back emf voltage induced at
the armature?
3.(c) When the motor is producing 2x10-3 Nm of torque, how much power is dissipated as heat at the
motor windings?
DC Motor
3
Kt ⌧m 4 ⇤ 10
= =
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R u 24
DC Motor
3 3
4 ⇤ 10 4 ⇤ 10
0= ⇤ 24 ⇤ Kt ⇤ 200
24
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24
DC Motor
24 242
Kt = R= 3
200
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200 ⇤ 4 ⇤ 10
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p
200 ⇤ 4 ⇤ 10 3
Km =
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200
DC Motor
24
E = Kt ⇤ ! m = ⇤ 100 = 12
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200
2 2 6
R 2 24 ⇤ 200 ⇤ 4 ⇤ 10 5
Pdisp = 2 ⇤ ⌧m = = 2 ⇤ 10
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Kt 242 ⇤ 200 ⇤ 4 ⇤ 10 3