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ω = 2× π ×f rad/s
s
v= m/s
t v = ω × r = 2× π ×f × r m/s
s = v× t m M = F× r Nm
1 2 P = M×ω W
sa = × a × ta m
2
M = J×ω
& Nm
v
a= m/s2
ta J × ω2
W= Ws or J
2
P = F× v W
J = m× r2 kgm2
F = m×a N
W = F×s Ws
m × v2
W= Ws
2
Units used
1
LA0011-01GB
Formulae for the transmission technique
Power
Ps = M × ω W (without loss) 1
P = F× v× W
η
π ×n
ω = rad/s
30 F× v 1
P= × kW
1000 η
M×n π
P= × W
η 30 Lead screw:
M×n π 1 F× p
P= × × kW M= Nm
η 30 1000 2000 × π × η
M = F× r Nm v = π × D× n m/min
P × 9550 D
MA = ×η Nm m=
n z
z×t
D=
π
Units used:
2
LA0011-01GB
Acceleration torque
J×n π
Ma = × Nm
ta 30
J red × n π
Ma = × Nm
ta 30
n2 1
J red = 2 ×J = 2 ×J kgm2
n mot i
v2
J red = 91.2 × m × 2
kgm2 1
n mot J = × m × r2y kgm2
2
Units used:
n mot
i= gear ratio
n
3
LA0011-01GB
Acceleration and deceleration time
J×n
ta = s
9.55 × M a
Braking work
Mb J × n 2 mot
A= × red Ws
Mb + ML 182.4
F× v
P= kW
1000 × η
F = m×g×µ N
Units used:
Ma = acceleration torque in Nm
= friction coefficient
Mb = braking torque in Nm
Jred = reduced rotational mass moment of
ML = load torque reduced to the inertia referred to the motor shaft
motorshaft in Nm
nmot = number of revolutions of motor in
ta = acceleration time in s rev/min.
W = work in Ws or J m = load in kg
4
LA0011-01GB
Frictional force during linear movement using wheels or rails
2× m×g d
F= × (µ1 × + f) × µ 2 N
D 2
R ×q×v
P= kW
1000 × η
Units used:
5
LA0011-01GB
SI - Units
6
LA0011-01GB
The rotating mass moment of inertia of rotating bodies
Steiners Equation
J = J0 + m × r 2 kgm2
J0 = rotational mass
moment of inertia kgm2
relative to the center of
gravity axis
r = shaft distance m
7
LA0011-01GB
Correlation between rotational mass moment of inertia and rotating mass
2
J = m × rJ kgm2 Units used:
m = mass in kg
rJ = inertial radius in m
The efficiency for different types of drives are often values obtained by experience:
The friction values are difficult to give correctly and are dependant on surface conditions
and lubrication.
8
LA0011-01GB
The twisting torque on a shaft from a pulling force is according to the following:
d0 Efficiency,
M = F× r × η = F× ×η Nm
2
Toothed wheel = 0.95
Units used:
Chain wheel = 0.95
F = cross force
Toothed belt = 0.80
M = twisting torque
Flat belt = 0.40
do = effective diameter on
toothed wheel or chain wheel Flat belt, pre-tensed = 0.20
= efficiency
r = radius in m
9
LA0011-01GB