MACHINE BUILDING AND AUTOMATION

DESIGN CALCULATION

ROTARY ACTUATOR CALCULATION - VERTICAL MOUNTING

S.NO DESCRIPTION SYMBOL FORMULA UNIT VALUE

Load type

Ts/ Tf/ Ta

2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Rotation angle Rotation time Mass of load Displacement between centre of gravity and rotational axis Clamping force Displacement of clamping force from actuator axis Static Load Min. Effective torque requirement Coefficient of friction Resistance load Min. Effective torque requirement Net moment of inertia of load about actuator axis Calculated angular velocity (max.) Calculated angular acceleration (max.) Inertial load Min. Effective torque requirement Rotation time for 90 Thrust load Load moment Kinetic energy

t m H F l Ts Teff Tf Teff Ia Ta Teff Ft M K

Fxl/1000 (xmx9.8)x( H/1000) 5xTf (0.035x)/t

deg sec kg mm N mm N-m N-m N-m N-m kg-mm^2 rad/sec

15 0.5 7 58 45 15 0.675 0.675 0.2 0.79576 3.9788 23500 1.05 2.1 0.04935 0.4935 3 68.6 3.9788 0.01295438

(0.035x)/t^2 rad/sec^2 (Ia/10^6)x 10xTa mx9.8 FtxH (1/2)xIax^2 N-m N-m sec N N-m J

PREPARED BY: DATE LAST MODIFIED: 18/10/2010 VALIDATED BY:

PREPARATION DATE:

VALIDATION DATE:

MACHINE BUILDING AND AUTOMATION

DESIGN CALCULATION

ROTARY ACTUATOR CALCULATION - HORIZONTAL MOUNTING

S.NO DESCRIPTION SYMBOL FORMULA UNIT VALUE

Load type

Ts/ Tf/ Ta

2 3 4 5 6 7 8 9 11 12 13 14 15 16 17 18 19 20 21

Rotation angle Rotation time Mass of load Displacement between centre of gravity and rotational axis Clamping force Displacement of clamping force from actuator axis Static Load Min. Effective torque requirement Resistance load Min. Effective torque requirement Net moment of inertia of load about actuator axis Calculated angular velocity (max.) Calculated angular acceleration (max.) Inertial load Min. Effective torque requirement Rotation time for 90 Radial load Load moment Kinetic energy

t m L F l Ts Teff Tf Teff Ia Ta Teff Fr M K

Fxl/1000 mx9.8xL 5xTf (0.035x)/t

deg sec kg mm N mm N-m N-m N-m N-m kg-mm^2 rad/sec

15 0.2 5 7 75 10 0.75 0.75 343 1715 257 2.625 13.125 0.00337313 0.03373125 1.2 49 0.343 0.00088545

(0.035x)/t^2 rad/sec^2 (Ia/10^6)x 10xTa mx9.8 FrxL (1/2)xIax^2 N-m N-m sec N N-m J

PREPARED BY: DATE LAST MODIFIED: 18/10/2010 VALIDATED BY:

PREPARATION DATE:

VALIDATION DATE:

Note: 1. The effective torque requirement is to be used in conjunction with supplier tables and operating pressure to actuator. 2. Only mass moment of inertia is to be considered. 3. The tables given here are from SMC product catalog multiple loads, the highest of the effective torques is to be considered for selection.

INPUT VALUE OUTPUT VALUE DERIVED VALUE

MOUNTING
REMARKS Ts-Static Load Tf-Resistance Load Ta-Inertial Load

From 3D model requirement

For static load calc. only

For resistance load calc. only

From MI calc. sheet

For inertial load calc. only *Verification Value* *Verification Value* *Verification Value* *Verification Value*

MOUNTING
REMARKS Ts-Static Load Tf-Resistance Load Ta-Inertial Load

From 3D model requirement

For static load calc. only

From MI calc. sheet

For inertial load calc. only *Verification Value* *Verification Value* *Verification Value* *Verification Value*

and operating pressure to select the rotary om SMC product catalogue. 4. In case of ered for selection.

MACHINE BUILDING AND AUTOMATION

DESIGN CALCULATION

ROTARY ACTUATOR CALCULATION - VERTICAL MOUNTING

S.NO DESCRIPTION SYMBOL FORMULA UNIT VALUE REMARKS Ts-Static Load 1 Load type Ts/ Tf/ Ta Tf-Resistance Load Ta-Inertial Load 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 Rotation angle Rotation time Mass of load Displacement between centre of gravity and rotational axis Clamping force Displacement of clamping force from actuator axis Static Load Min. Effective torque requirement Coefficient of friction Resistance load Min. Effective torque requirement Net moment of inertia of load about actuator axis Calculated angular velocity (max.) Calculated angular acceleration (max.) Inertial load Min. Effective torque requirement Rotation time for 90 Thrust load Load moment Kinetic energy t m H F l Ts Teff Tf Teff Ia Ta Teff Ft M K Fxl/1000 (xmx9.8)x( H/1000) 5xTf (0.035x)/t deg sec kg mm N mm N-m N-m N-m N-m kg-mm^2 rad/sec 15 0.5 7 58 45 15 0.675 0.675 0.2 0.79576 3.9788 23500 1.05 2.1 0.04935 0.4935 3 68.6 3.9788 0.01295438 *Verification Value* *Verification Value* *Verification Value* *Verification Value* For inertial load calc. only From MI calc. sheet For resistance load calc. only For static load calc. only From 3D model requirement

(0.035x)/t^2 rad/sec^2 (Ia/10^6)x 10xTa mx9.8 FtxH (1/2)xIax^2 N-m N-m sec N N-m J

PREPARED BY: DATE LAST MODIFIED: 18/10/2010 VALIDATED BY:

PREPARATION DATE:

VALIDATION DATE:

MACHINE BUILDING AND AUTOMATION

DESIGN CALCULATION

ROTARY ACTUATOR CALCULATION - HORIZONTAL MOUNTING

S.NO DESCRIPTION SYMBOL FORMULA UNIT VALUE REMARKS Ts-Static Load 1 Load type Ts/ Tf/ Ta Tf-Resistance Load Ta-Inertial Load 2 3 4 5 6 7 8 9 11 12 13 14 15 16 17 18 19 20 21 Rotation angle Rotation time Mass of load Displacement between centre of gravity and rotational axis Clamping force Displacement of clamping force from actuator axis Static Load Min. Effective torque requirement Resistance load Min. Effective torque requirement Net moment of inertia of load about actuator axis Calculated angular velocity (max.) Calculated angular acceleration (max.) Inertial load Min. Effective torque requirement Rotation time for 90 Radial load Load moment Kinetic energy t m L F l Ts Teff Tf Teff Ia Ta Teff Fr M K Fxl/1000 mx9.8xL 5xTf (0.035x)/t deg sec kg mm N mm N-m N-m N-m N-m kg-mm^2 rad/sec 15 0.2 5 7 75 10 0.75 0.75 343 1715 257 2.625 13.125 0.00337313 0.03373125 1.2 49 0.343 0.00088545 *Verification Value* *Verification Value* *Verification Value* *Verification Value* For inertial load calc. only From MI calc. sheet For static load calc. only From 3D model requirement

(0.035x)/t^2 rad/sec^2 (Ia/10^6)x 10xTa mx9.8 FrxL (1/2)xIax^2 N-m N-m sec N N-m J

PREPARED BY: DATE LAST MODIFIED: 18/10/2010 VALIDATED BY:

PREPARATION DATE:

VALIDATION DATE:

Note: 1. The effective torque requirement is to be used in conjunction with supplier tables and operating pressure to select the rotary actuator. 2. Only mass moment of inertia is to be considered. 3. The tables given here are from SMC product catalogue. 4. In case of multiple loads, the highest of the effective torques is to be considered for selection.

INPUT VALUE OUTPUT VALUE DERIVED VALUE