Miniature Direct Drive Rotary Actuators
固定导向柔顺杆件6R伪刚体模型
固定导向柔顺杆件6R伪刚体模型刘凯;曹毅;葛姝翌【摘要】为提高固定导向型伪刚体模型的计算精度，基于伪刚体模型的原理提出了一种固定导向6R伪刚体模型.建立了该模型的运动学方程，并根据逆运动学分析方法及优化算法求解了模型的4个最优特征半径系数和3个扭簧刚度系数.通过数值算例模拟固定导向6R 伪刚体模型的末端动作路径，并将其与固定导向2R伪刚体模型及柔顺杆件的末端路径进行对比.结果表明，固定导向6R 伪刚体模型能够更加精确地模拟相应柔顺杆件的末端动作过程，且其相对误差几乎为0.最后，通过 AN-SYS有限元分析实例验证了该模型在实际计算中的精确性.%Based on the principles of PRBM,a new fixed-guided 6R PRBM was presented to im-prove the calculation accuracy for the fixed-guided compliant links firstly.Secondly,the kinematics e-quation of the model was set up,and the optimal characteristic radius coefficients and the spring stiff-ness coefficients were acquired using the optimization algorithm and inverse kinematical analysis.In order to validate the calculation accuracy of the fixed-guided 6R PRBM,numerical examples were demonstrated by comparing the tip locus of the fixed-guided 6R PRBM with that of the fixed-guided 2R PRBM.Further research shows that the fixed-guided 6R PRBM may actually simulate the tip locus of the compliant links and the relative error is almost equal to zero.Finally,the accuracy of the model in actual calculation was verified by finite element analysis and engineering examples.【期刊名称】《中国机械工程》【年(卷),期】2016(027)021【总页数】6页(P2920-2925)【关键词】伪刚体模型;固定;导向柔顺杆件;优化算法;有限元分析【作者】刘凯;曹毅;葛姝翌【作者单位】江南大学，无锡，214122;江南大学，无锡，214122; 上海交通大学系统控制与信息处理教育部重点实验室，上海，200240; 哈尔滨工业大学机器人技术与系统国家重点实验室，哈尔滨，150080;江南大学，无锡，214122【正文语种】中文【中图分类】TH112柔顺机构是一种利用机构杆件自身柔性变形来实现运动和力传递或转换的新型机构[1]。
精密电动执行器LTA系列技术参考说明书
TECHNICAL REFERENCE
MOTORIZED LINEAR STAGES
MOTORIZED ROTATION STAGES
MOTORIZED OPTICAL MOUNTS
836 M o t o r i z e d P o s i t i o n i n g
LTA Series
Precision Motorized Actuators
On-Axis Accuracy (µm)
Maximum Speed (mm/s) Axial Load Capacity (N) Side Load Capacity(3)
LTA-HS 50
0.035 0.1 0.15 typical, 0.5 guaranteed 0.6 typical, 2 guaranteed 5 typical, 15 guaranteed 5 50 5N
page 899). The LTA-HS is optimized for high-speed applications and provides a longer travel range. The mounting interface of the LTA-HS is compatible with a large number of Newport and other manufacturer's manual components.
FESTO Mini滑动机 EGSC-BS 紧凑型位置器说明书
Compact positioning!Powerful and low cost The internal, protectedrecirculating ball bearing guide of the EGSC can easily absorb high forces and torques. The high-quality ball screw ensures smooth, quiet, low-friction operation and precisepositioning, while the life-time lubrication ensures a long ser-vice life. The competitive-ly-priced mini slide EGSC is built to run all day.Wide range of applications Available in four force ranges from 25 mm to 200 mm, the EGSC is the perfect fit for many applications.Multi-axis systemsThe mini slide EGSC is commonly used as a Z-axis in multi-axis systems. Easily mount the EGSC to electric linear actuators ELGC to create compact 2-axis and 3-axis Cartesian systems.Mount one EGSC to another EGSC to create compact,precision XZ Cartesian systems.Easily orient parts using the electric rotary actuator ERMO, which mounts directly to the EGSC yoke plate. No adapter kit required.Its compact dimensions and optimized installation space make the low-cost and compact mini slide EGSC the ideal choice for applications in electronics assembly, small parts handling, test and inspection, lab automation and many other desktop applications. The axes are designed to easily assemble into compact multi-axis systems, and are perfectly complemented by the electric rotary actuator ERMO and linear actuators ELGC.P S I 183.2.u s e n 1.2018 – E r r o r s a n d o m i s s i o n s e x c e p t e dSimple and compact systemsVery high-quality ball screw with minimal internal frictionBreathing port• Standard: sintered plate screwed into the port• Connect a standard fitting to apply pressurized air to prevent ambient particles and moisture being drawn in, or apply vacuum to prevent particles being emittedRigid, high load-bearing andprecise linear guide to absorbforces and provide a long service lifeTechnical data Design Electric mini slide with ball screw Sizes25 / 32 / 45 / 60Fixed strokes [mm]25 (200)Max. feed force [N]20 / 60 / 120 / 250Max. speed [mm/s]600Max. acceleration [m/s 2]15Repeatability [µm]± 15Compact, integrated coupling to minimize motor footprintStandardized interface for direct mounting of the electric rotary drive ERMO without the need for adaptersFlexible motor mounting. Modify motor orientation at any time. Parallel and axial kits provide even greater flexibility for motor positionCompact double bearing integrated in the mini slide to save spaceClean look design: easy to clean and less prone to contaminationEasily assemble 2-axis and 3-axis Cartesian systems combining the mini slide EGSC with electric rotary actuator ERMO and ball screw and toothed belt linear axes ELGC.Rotary lift solution with mini slide EGSC and electric rotary ERMO Compact pick, place and rotate solution with EGSC (x2) and ERMOCompact 3-axis solution with EGSC, ELGC-BS and ELGC-TB。
蜂巢SWITCH限位开关说明说明书
Limitless leadership. Available with a variety of actuators, electrical specifications, terminations, circuitries and sealing ratings, Honeywell’s MICRO SWITCH limit switches offer superior flexibility and performance. These precision snap-action switches — sealed in rugged housings — are used to detect presence or absence in areas where physical contact is allowed.And Honeywell delivers all the benefits your applications demand:• Reliability, repeatability, accuracy• Impressive breadth of product offerings • Tested-tough, for industrial machinery• Supreme performance, through superior application understanding• Withstanding shock, vibration, washdowns and outdoor environmentsFEATURESLIMIT SWITCHES GLA Series.Features: Metal housings for rugged applications • Galvanically isolated contacts for controlling separatecircuits • Wide variety of actuators and circuitry options for increased flexibility • International conduit sizes available for global applications • Direct-acting NC contacts designed to ensure opening when actuated • 2NO version available • Gold contacts optional for low-energy switching • EN50041 mounting pattern Benefits: Specifically designed for world-wide applications and are supported by Honeywell global resources for sale and after sale service. Applicationsinclude machine tools, material handling equipment, packaging machinery, textile machinery, construction machinery and equipment, vehicles and lift trucks.GLS Miniature (GLD, GLC, GLE) Series.Features: GLC metal housings or GLD plastic housings for design versatility (metal = better sealing, unaffected by UV light) • Galvanically isolated contacts for controlling two separate circuits • Direct-acting NC contacts deignedMICRO SWITCHLimit Switches Line Guidecontinued on page 5to ensure opening when actuated • Gold contacts optional for low-energy switching • 2NO version available • Wide variety of actuators and circuitry options for increased flexibility • International conduit sizes available for global applications • EN50047 mounting patternBenefits: Specifically designed for world-wide applications and are supported by Honeywell global resources for sale and after sale service. Applicationsinclude machine tools, material handling equipment, packaging machinery, textile machinery, construction machinery and equipment, vehicles and lift trucks.NGC Series.Features: SPDT or DPDT configurable circuitry • Snap-action, positive-break contacts • Metal or plastic housing • Pre-leaded cable and M12 connector options • Side exit (standard) and bottom exit connection options • Variety of heads and actuator leversBenefits: Can be configured more than 380,000 ways, carries global approvals, and sealed to IP67 for potential use in indoor and outdoor applications.Applications include boom position detection, elevators and escalators, machine tools, mobile light towers, packaging equipment, rail doors, and scissor liftsSZL-VL-S Series.Features: Silver-alloy contacts standard • Stainless steel levers with either steel and nylon rollers • Variety of actuators • Positive-opening contacts (plunger version only)Benefits: Designed for applications of small mounting space. Applicationsinclude scissor/boom position detection, vehicle accessibility lifts, escalators/motorized walkways, machine tools, mobile light towers, packaging equipment, conveyor equipment,overhead doors, agriculture equipmentSZL-VL-S2 MICRO SWITCH Limit Switches Line GuideMICRO SWITCH Limit Switches.Application-proven limit switches for any need:General Purpose switches meet IEC standards for worldwide acceptance — for injection molding, PLC interface, machine tooling, elevators and escalators, gaming, packaging and textile, food and beverage, industrial doors, scissor and platform lifts and electronic assembly.Heavy-duty switches offer a rugged, die-cast body — epoxy-coated — with multiple mounting and actuatoroptions. Low- and high-temp construction and factory-sealed, pre-wired versions are also available. Applications include food and beverage machinery, shipboard and dockside, caustic waste handling, power generating plants, pulp and paper,welding, automotive machine tools and conveyors.Compact Precision and Miniature switches feature a small metal or plastic package size. Applications include material handling, printing machinery, machine tools, agricultural equipment, overhead cranes and hoists, packaging and earthmoving, stamping, conveyors, surface transportation and textile, and printing machinery.Sensing and Internet of Things 3SL1 SeriesMICRO SWITCH Limit Switches Line GuideMICRO SWITCH Specialty Limit Switches.Application-proven specialty limit switches for swing-door applications:Relialign™ SeriesResidential Door Interlocks are designed for use in residential swing door applications, specifically dumbwaiters, lifts for the mobility impaired and swing-door elevators in the USA. In Canada, the RDI is designed for use in residential swing door applications, specifically elevators and dumbwaiters but is not designed for use in lifts for the mobility impaired. The interlock holds the door in place and prevents it from being opened in potentially unsafe conditions (e.g. the elevator/lift car is not presentat the door). A number ofdesign features contribute to increase safety, reduce nuisance stoppages and call-backs, and contribute to simplified wiring and installation. Featuring a custom internal solenoid control, the RDI may reduce complexity of the host controller, reduce power consumption for a “greener” product, extend solenoid life and reduce solenoid “time outs,” reducing customer aggravation.4 HEAVY-DUTY LIMIT SWITCHES HDLS Series (Standard, Stainless Steel, and Fully Potted). Features: Rugged housing with electrostatic epoxy finish • Sealedto NEMA 1, 3, 4, 4X, 6, 6P, 12, 13;IP65/66/67 • Fully potted versions exceed NEMA 6P washdown • Side rotary styles may be field modified for CW and/or CCW operation • Operating heads can be rotating 90° • Factory sealed pre-wired or factory-installed connectors available • Corrosion resistant stainless steel housing available • Low temperature sealing available • High temperature, chemical resistant fluorocarbon seals available Benefits: Includes boss-and-socket head design for secure head-to-body retention, unique all-metal drive trainfor consistent operating characteristics even at high temperature, and self-lifting pressure plate terminals save wiring time. Type 316 case stainless steelbody is designed to minimize crevices where food particles could become trapped. Fully potted version providesan extra degree of protection in harsh environments by sealing the cavity with epoxy. Applications include machine tools, material handling, packaging, presses, shipboards/dockside, power generating plants, food and beverage machinery, conveying equipment, and more.OTHER LIMIT SWITCHES14CE/914CE Series.Features: Rugged housing for harsh environments • Miniature size for smaller applications • Available with direct-acting contacts • Pre-leaded or various quick-connect terminations for design flexibility • Wide variety of actuator styles including seal-booted versions Benefits: 14CE and 914CE Series switches incorporate fluorocarbon diaphragm sealing to provide reliable protection. Versions with boot seal also meet NEMA 12 requirements. For low temperature applications (down to-40 °C, [-40 °F]), CE switches can be supplied with low temperature seals and lubricant.14 CE versions are designed for European applications and meetthe requirements of the low voltagedirective. 914CE products meet UL andCSA standards, as well as EuropeanCE requirements. Applications includeprocessing equiment, textile machinery,machine tools, robotics, and more.LS Series.Features: Mode of operation is fieldadjustable • NEMA 1, 3, 4, 6, and 13 •Wide choice of heads and actuators •Variety of operating characteristics •Captive screws • UL and CSA approvedparts availableBenefits: LS fits in many places toosmall for any other fully adjustable limitswitch. 200LS switches are the originalplug-in concept for reducing downtimeby making changeover simple and fast.Applications include machine tools,conveyors, material handing, and lifttrucks.BZE6/V6 Series.Features: Rugged electrostaticepoxy-coated metal housing • Precisemechanism offers increased repeatability• Booted versions sealed to NEMA 1, 3, 4and IP66 • Unsealed actuators sealed toNEMA 1and IP40 • Side or flange mount• Low temperature options available •Gold contacts available • Removableterminal enclosure for easy of wiringBenefits: Offered with or withoutactuator seal boots. Both have acombination insulator/seal cementedinside the bottom enclosure. Leadwashers are used to seal the mountingholes on side mount switches. All sidemount switches are installed with#6 screws, except the BZE6-2RN7(#8 screws). Removal of the bottomenclosure exposes the terminals foreasy wiring. Applications includepackaging equipment, textile machinery,construction equipment, printingmachinery, and more.SL1 Series.Features: Ideal source of replacementparts for imported machine tools • NEMA3, 4, 13 and IEC IP67 sealing • Smallersize saves space • Rugged zinc die-casthousing • Snap-in terminal enclosuresmakes mounting and wiring easy •Temperature ranges: standard and lowBenefits: Sealed, sensitive, and havea long life. Compact size makes themsuitable for the total miniaturization ofmachinery or equipment. Applicationsinclude robotics, auto factory floor, andelectronic assembly equipment.SPECIALTY LIMIT SWITCHESRelialign™ Series (RDI ResidentialDoor Interlocks).Features: Compliant to ASME A17.1,UL standard 104, and CSA-B44.1 •Manual override for easy actuationwithout user hazard • Two separatemechanical actions to indicate doorclosure • Rugged metal housing availablein white and bronze color • Metal key •Internal solenoid control • No open orexposed contacts • Key engagementminimizes nuisance stoppage • Doorclosure retention cam to hold doorwith minimal key-to-interlock play •Series or parallel wiring option for thedoor closed and door locked switches •6-pin terminal strip or Cat 5 connectionoptions • Configurable product platform• Universal voltage for ac and dcapplicationsBenefits: Meets required safety codes.Reduced potential for call-backs withreliable performance and multiple designfeatures to minimize nuisance stoppageof applications. Simplified wiring andinstallation. Reduced OEM design andmanufacturing costs. Applicationsinclude residential elevators, residentialdumbwaiters, and platform/vertical liftsSensing and Internet of Things 5002314-9-EN IL50 GLO May 2017Copyright © 2017 Honeywell International Inc. All rights reserved.Warranty. Honeywell warrants goods of its manufacture as being free of defective materials and faulty workmanship during the applicable warranty period. Honeywell’s standard product warranty applies unless agreed to otherwise by Honeywell in writing; please refer to your order acknowledgment or consult your local sales office for specific warranty details. If warranted goods are returned to Honeywell during the period ofcoverage, Honeywell will repair or replace, at its option, without charge those items that Honeywell, in its sole discretion,finds defective. The foregoing is buyer’s sole remedy and is in lieu of all other warranties, expressed or implied, including those of merchantability and fitness for a particular purpose. In no event shall Honeywell be liable for consequential, special, or indirect damages.WARNINGPERSONAL INJURY• DO NOT USE these products as safety or emergency stop devices or in any other application where failure of the product could result in personal injury.Failure to comply with theseinstructions could result in death or serious injury.WARNINGMISUSE OF DOCUMENTATION• The information presented in this catalogue is for reference only. DO NOT USE this document as product installation information.• Complete installation, operation and maintenance information is provided in the instructions supplied with each product.Failure to comply with theseinstructions could result in death or serious injury.While Honeywell may provide applica-tion assistance personally, through our literature and the Honeywell web site, it is buyer’s sole responsibility to determine the suitability of the product in the ap-plication.Specifications may change without notice. The information we supply isbelieved to be accurate and reliable as of this writing. However, Honeywell assumes no responsibility for its use.Honeywell Sensing and Internet of Things 9680 Old Bailes Road Fort Mill, SC 29707 Find out moreTo learn more about Honeywell’s sensing and switch products, call +1-815-235-6847, email inquiries to *********************, or visit 。
3D模型中英文对照表
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GRC24A-5 旋转伺服机械芯说明书
Rotary actuator for rotary valves andbutterfly valves• Nominal torque 40 Nm• Nominal voltage AC/DC 24 V• Control Open-close• Running time motor 35 sTechnical dataElectrical data Nominal voltage AC/DC 24 VNominal voltage frequency50/60 HzNominal voltage range AC 19.2...28.8 V / DC 21.6...28.8 VPower consumption in operation8 WPower consumption in rest position 2.5 WPower consumption for wire sizing11 VAConnection supply / control Cable 1 m, 3 x 0.75 mm²Parallel operation Yes (note the performance data)Functional data Nominal torque40 NmManual override with push-button, can be lockedRunning time motor35 s / 90°Sound power level, motor60 dB(A)Position indication Mechanically (integrated)Safety Protection class IEC/EN III Safety Extra-Low Voltage (SELV)Protection class UL UL Class 2 SupplyDegree of protection IEC/EN IP54Degree of protection NEMA/UL NEMA 2, UL Enclosure Type 2EMC CE according to 2014/30/EUCertification IEC/EN IEC/EN 60730-1 and IEC/EN 60730-2-14Certification UL cULus according to UL60730-1A, UL60730-2-14 and CAN/CSA E60730-1:02Mode of operation Type 1Rated impulse voltage supply / control0.8 kVControl pollution degree3Ambient temperature range-30...50 °CNon-operating temperature-40...80 °CAmbient humidity Max. 95% r.h., non-condensingMaintenance Maintenance-freeMechanical data Connection flange F05Weight Weight 2.5 kgSafety notes!• This device has been designed for use in stationary heating, ventilation and airconditioning systems and must not be used outside the specified field of application,especially in aircraft or in any other airborne means of transport.• Outdoor application: only possible in case that no (sea)water, snow, ice, insolationor aggressive gases interfere directly with the actuator and that is ensured that theambient conditions remain at any time within the thresholds according to the datasheet.• Only authorised specialists may carry out installation. All applicable legal orinstitutional installation regulations must be complied during installation.• The switch for changing the direction of rotation may only be operated by authorisedspecialists. The direction of rotation must not in particular be reversed in a frostprotection circuit.• The device may only be opened at the manufacturer’s site. It does not contain anyparts that can be replaced or repaired by the user. GRC24A-5 • en-gb • 2018-07-02 • subject to changes1• Cables must not be removed from the device.• The device contains electrical and electronic components and must not be disposed of as household refuse. All locally valid regulations and requirements must be observed.Product featuresSimple direct mountingSimple direct mounting on the rotary valve or butterfly valve with mounting flange. The mounting orientation in relation to the fitting can be selected in 90° steps.Manual overrideManual override with push-button possible (the gear is disengaged for as long as the button is pressed or remains locked).Adjustable angle of rotation Adjustable angle of rotation with mechanical end stops.High functional reliability The actuator is overload protected, requires no limit switches and automatically stops when the end stop is reached.Combination valve/actuatorFor valves with the following mechanical specifications in accordance with ISO 5211 F05:- Square stem head SW = 14 mm for form-fit coupling of the rotary actuator.- Hole circle d = 50 mmAccessoriesDescriptionType Electrical accessoriesAuxiliary switch, add-on, 1 x SPDT S1A Auxiliary switch, add-on, 2 x SPDTS2A Feedback potentiometer 140 Ohm, add-on P140A Feedback potentiometer 200 Ohm, add-on P200A Feedback potentiometer 500 Ohm, add-on P500A Feedback potentiometer 1 kOhm, add-on P1000A Feedback potentiometer 2.8 kOhm, add-on P2800A Feedback potentiometer 5 kOhm, add-on P5000AFeedback potentiometer 10 kOhm, add-onP10000AElectrical installation!Notes• Connection via safety isolating transformer.• Parallel connection of other actuators possible. Observe the performance data.• Direction of rotation switch is covered. Factory setting: Direction of rotation Y2.Wiring diagrams AC/DC 24 V, open-closeT~Cable colours:1 = black 2 = red 3 = whiteRotary actuator, Open-close, AC/DC 24 V, 40 Nm, Running time motor 35 sSafety notesGRC24A-5 • en-gb • 2018-07-02 • subject to changes2Dimensional drawingsFurther documentation• Overview Valve-actuator combinations• Data sheets for rotary valves and butterfly valves• Installation instructions for actuators and/or rotary valves and butterfly valves • General notes for project planningRotary actuator, Open-close, AC/DC 24 V, 40 Nm, Running time motor 35 sDimensions [mm]GRC24A-5 • en-gb • 2018-07-02 • subject to changes3。
Parker 旋钮式电机分类目录说明书
Index Rotary ActuatorsParker . . .PV Series Vane Actuators•8 model sizes• 2 standard rotations•7 to 1800 lb-in output torque at 100 PSIGSingle or double-vane actuators are permanentlylubricated for trouble-free service and low breakaway. Unique construction provides high torque in a compact, lightweight package. Options include stroke adjusters, bumpers, rear porting, fluorocarbon seals, and magnets for Hall effect or reed switches. Pressures to 150 PSIG.WR Series Wrist Rotate Units• 2 models•Adjustable rotation from 30° to 205°•15 and 65 lb-in output torque at 100 PSIGRugged actuators provide added features to allow use as a modular pick-and-place component or as a precision pneumatic rotary actuator. Features include hydraulic shock absorbers or polyurethane bumpers and optional plug-in style inductive proximity sensors.PRN Series Vane Rotary Actuators• 5 miniature and 4 standard models•Rotation angles 90°, 100°, 270° and 280°•Oscillating reference points of 40°, 45° and 90°•1.33 to 2355 in-lb torque at 100 PSIPRN Series single or double-vane actuators yield a high output torque to weight ratio. The unique vane design assures minimal leakage and stable low speed oscillation at low operating pres-sures. Foot or flange mounting is available. Reed and Hall effectswitches are optional.PTR SeriesRack & Pinion Actuators• 5 bore sizes from 1” to 3-1/4”• 5 standard rotations•39 to 2250 lb-in output torque at 100 PSIGRugged, reliable single or double-rack actuators provide superior performance with the broadest torque range in the industry.Proximity sensors, Hall effect and reed switches are available for position sensing. A wide choice of options for unmatchedapplication flexibility including three-position, anti-backlash and integral air/oil units are available. Pressures to 250 PSIG.HP SeriesRack & Pinion Actuators• 2 models• 3 standard rotations•4,500 and 10,000 lb-in output torque at 100 PSIGRugged, large-bore actuators provide reliability in heavy-duty applications. Steel racks and pinions and a full range of options. Pressures to 100 PSIG.XR SeriesRack & Pinion Actuators• 5 bore sizes from .56” to 2.00”•8 standard rotations• 6 to 236 lb-in output torque at 100 PSIGEconomical compact, high-performance actuators offer rugged internal components packaged in a precision, unitized aluminum housing. Numerous options include bumpers, cushions, shock absorbers, stroke adjusters, reed and Hall effect switches, flow controls and anti-backlash. Pressures to 150 PSIG.B671/F672 Actuators• 4 bore sizes from 1-1/2” to 5”•100 to 2500 lb-in output torque at 100 PSIRugged design provides equal torque in both directions throughout the range of rotation. Can be coupled to a Hydrocheck for smooth, controlled motion.Prelubricated. Pressures to 140 PSI.Torque RangeIntroduction100009000800070006000500040003500300025002000175015001250100090080070060050040030025020015010080604035302520151050HP10HP10HP4.5HP4.5PRN800D B6714B6714PTR322PTR322PV46D PRN800S PRN800SPV44D PTR321, B6713PTR321, B6713PRN300D PTR252PV46PTR252PV36D, PV42DPTR202, B6712PV44PTR202, B6712PV42D, PRN150D PTR251PTR251PV33D, PRN300SPV36, PRN300SPTR201PV42PTR201PTR152, XR20PTR152, XR20PRN150S PV33, PRN150SPV22D, PRN50DPTR151, B6711PTR151, B6711PRN30D XR15XR15PTR102PV22PTR102PRN50S PRN50S PRN30S PTR101, XR10PRN30SPTR101, XR10PV11D PRN20S PRN20SPV10D XR07XR07PRN10SPV11, PRN10SXR05PV10XR05PRN1S, PRN3S PRN1S, PRN3SNominal Torque at 100 PSIActuator Model,Rotation ≤ 95°Actuator Model,Rotation >100°Torque SelectionParker rotary actuators provide output torque up to 10,000 lb-in. The chart to the right shows the nominal torque output range of various actuator models at 100 PSI.Caution:This chart is intended as a guide only. Refer to actual product data in this catalog before specifying an actuator.Factors such as pressure rating, rotation, and actual torque output may be affected by specific product details and options.Output Torque,lb-inVaneVaneRack & PinionRack & PinionType VaneRack & PinionSeriesPRN PV WR XR PTR B671HP 90°/100° 195°/100° 1210°90°/100°90°90°90°Standard Rotations180° 2275°/280° 2180°/190°180°180°180°270°/280° 2270°/280°270°360°/370°360°360°360°Maximum Torque at 100 psi (lb-in)25401800652362000250010,000Maximum Air Pressure Rating (psi)100/140150150150250140100Shaft Bearing Type Ball or Radial Ball Radial Ball Radial Ball Bronze Bronze CompositeComposite BushingBushingBushingBushingBushingBushingNon-Lube Service •••••••Metric (M) or Imperial (I)M I II M, I I IHall Effect••C••Switch OptionsReed••C••CProximity sensor •C ••Double end••••Shaft OptionsFemale •••Preload keyway ••Special C CC C CCStroke adjust••••••Rotation Cushions ••••Options Bumpers •••••Shock absorbers••••Port Relocation ••••C•3-Position C•Air/Oil ••3Zero Backlash •••••Fluorocarbon Seals •••••Flange Mount •••Washdown C •C CClean RoomC•C•= Available from catalog C = Consult Factory Performance OverviewBasic performance features of the rotator product line are shown below.See catalog sections for greater detail and ordering information.1 Double vane 2Single vane 3Hydro-check optionFeaturesIntroductionDesign torqueDesign torque represents the maximum torque that an actua-tor must supply in an application. This maximum is the greater of the Demand Torque or the Cushion Torque. If the demand torque exceeds what the actuator can supply, the ac-tuator will either move too slowly or stall. If the cushion torque is too high, the actuator may be damaged by exces-sive pressure. Demand torque and cushion torque are de-fined below in terms of load, friction, and acceleration torque.Equations for calculating demand torque and cushion torque for some general applications are provided on the following pages.T - TorqueThe amount of turning effort exerted by a rotary actuator.T D - Demand TorqueThis is the torque required from the actuator to do the job and is the sum of the load torque, friction torque, and accel-eration torque, multiplied by an appropriate design factor.Design factors vary with the applications and the designers’knowledge.Equation 4-3)T T T T D f L=++αT L - Load torqueThis is the torque required to equal the weight or force of the load. For example, in Fig. 4-8a, the load torque is 563 N•M (5000 lb-in.); in Fig. 4-8b the load torque is zero; in Fig. 4-8c the load torque is 563 N•m (5000 lb-in.). The load torque term is intended to encompass all torque components that aren't included in the friction or acceleration terms.T f - Friction torqueThis is the torque required to overcome friction between any moving parts, especially bearing surfaces. In Fig. 4-8a, the friction torque is zero for the hanging load; in Fig. 4-8b the friction torque is 775 N•m (6880 lb-in) for the sliding load;in Fig. 4-8c the friction torque is zero for the clamp.Equation 4-4)T Wrf =µT a - Acceleration TorqueThis is the torque required to overcome the inertia of the load in order to provide a required acceleration or decelera-tion. In Fig. 4-8a the load is suspended motionless so there is no acceleration. In Fig. 4-8b, the load is accelerated from0 to some specified angular velocity. If the mass moment of inertia about the axis of rotation is I and the angular accel-eration is a, the acceleration torque is equal to Ia. In Fig. 4-8c there is no acceleration.Some values for mass moment of inertia are given in Table 4. Some useful equations for determining a are listed in Table 5. Equation 5 below shows the general equation for accel-eration torque.Equation 4-5)T C - Cushion TorqueThis is the torque that the actuator must apply to provide a required deceleration. This torque is generated by restricting the flow out of the actuator (meter-out) so as to create a back pressure which decelerates the load. This back pressure (de-celeration) often must overcome both the inertia of the load and the driving pressure (system pressure) from the pump.See applications.Equation 4-6)The friction torque T f reduces the torque the actuator must apply to stop the load. The load torque T L may add to, or subtract from the torque required from the actuator, depend-ing upon the orientation of the load torque. For example, a weight being swung upward would result in a load torque that is subtracted.Warning: Rapid deceleration can cause high pressure intensification at the outlet of the actuator. Always in-sure that cushion pressure does not exceed the manufacturer's pressure rating for the actuator.KE – Kinetic Energy (1/2 J m ω2)This is the amount of energy that a rotating load has. The rotator must be able to stop the load. All products have ki-netic energy rating tables. Choose the appropriate decelera-tion option (i.e., bumper, cushions, shock absorbers, etc.) that meets or exceeds the kinetic energy of the load.Calculating Torque Requirements IntroductionPages 8-10 excerpted from the Parker Hannifin Design Engineers Handbook.T α = I αT C = T α* +P r V– T f ±T L θDemand Torque Examples IntroductionMoments of Inertia Introduction11Parker Hannifin Corporation Actuator DivisionΘωmax=.035 ×tα=ωmax2Θ57.3α=ωmax( t ⁄ 2 )K.E.=1/2 J m ω2T a=α × J mDistance from pivot point to T f =W × U s ×center of external bearingsT L= Torque arm length × W L × cos (φ)to C.G. of loadWhere φ =Angle between torque arm andhorizontal plane( )BASIC VELOCITY, ACCELERATION, KINETIC ENERGY AND TORQUE EQUATIONSEquations below are based on triangular velocity profile.Where:Θ=Angle of Rotation (Degrees)t =Time to rotate through Θ (sec)ω=Angular velocity, radians/sec α=Angular accelerations (radians/sec 2)W L =Weight of load (lbf)T a =T orque to accelerate load (lb-in)U s =Coefficient of static frictionJ m *=Rotational mass moment of inertia (lb-in-sec 2)T f =T orque to overcome friction (lb-in)T L=T orque to overcome effects of gravity*Use "I" values from T able 4.( )( )Basic EquationsIntroductionCONVEYOR STOPCLAMPINGTENSIONING/SHOCK ABSORPTIONMIXINGCAMMINGFEEDINGCONVEYOR TRANSFEROPENING/CLOSING TURNTABLE/INDEXINGDIVERTING UNLOADING/DUMPINGDAMPER CONTROLVALVE ACTUATIONHARMONIC DRIVENotes14Parker Hannifin CorporationActuator Division。
MRD-S电气旋转机械臂·微型旋转机械臂说明说明书
· Miniature Rotary ActuatorsSizes 4 .. 12Weight1.2 kg .. 1.8 kg Max. torque 0.4 Nm .. 1.2 Nm Max. speed Max. speed 600 rpm Max. useful load 1 kg .. 3 kgApplication exampleRotary Gripping Combination with Z-stroke for the rapid handling of workpiecesMiniature Rotary Actuators 2-Finger Parallel Gripper MPG 20with attachment-fingersShort-stroke Module with linear direct driveMiniature Rotary Actuators225Brushless synchronous motor with permanent magnet for maximum positioning accuracyIntegrated pneumatic and electric rotary feed-through for modest space requirements and minimized interfering contours Large number of pole pairsfor a powerful torque even at low speeds Special motor geometryfor superior dynamics and acceleration Virtually no wearing partsfor a highly reliable system with long service lifeEcoDrive CS drive systemwith various standard communication interfaces for easy integration and start-up (Simodrive system available on request)Powerful torque motor with electric and pneumatic rotary feed-throughMiniature Rotary ActuatorArea of applicationFor all applications with exceptional requirements in terms of a chievable repeatability, rotary speed, acceleration and tool life.Your advantages and benefitsInformation about the seriesDrive3-phase, electronically commutated AC synchronous motor. The primary part (stator)is a 3-phase Cu coil, the secondary part (rotor) is an iron support with integrated permanent magnetMeasuring systemNon-contact, optical incremental measuring system with extremely high resolution and integrated reference track with reference mark Media feed-through 4 electric (max. 60 V / 1 A)2 pneumatic (max. 8 bar)Bearing arrangementPreloaded precision ball bearings, free from play, with life-time lubricationMaterialAnodized motor housing, hard-coated rotary table Operating temperature From 10 °C to 40 °CAccessoriesEcoDrive CS controllers from Rexroth (other manufacturers on request) Ready-made cable sets in various lengthsScope of deliveryCentering sleeves, assembly and operating manual with manufacturer’s declaration Warranty 24 months· Miniature Rotary ActuatorsHousinganodized, double-sided mating flange surface with centering rings Rotary table with centering collarInput rotary transmission leadthrough(4x) electrical and (2x) pneumatic MotorplugConnection incremental optical r otary encoderOutput rotary transmission leadthrough(4x) electrically pluggable and (2x) pneumaticThe unit is driven by a 3-phase brushless synchronous motor with permanent m agnet.Mechanical transmission elements such as gears can be completely eliminated. The high positioning accuracy is achieved by means of an incremental, optical shaft encoder with reference mark.Function descriptionAn electric and pneumatic rotary feed-through is integrated as special equipment.Options and special informationFunctionElectrical · Rotary Actuators ·Miniature Rotary Actuators227Repeat accuracyRepeat accuracy is defined as the spread of the target position after 100 consecutive positioning cycles. The target position remains unchanged during these cycles, and is always approached from the same direction.General information on the seriesAccessories from SCHUNK –the suitable complement for the highest level of functionality, reliability and controlled production of all automation components.Parallel-InterfaceSercos InterfaceCANopen ProfibusCentering sleevesDrive controllerCable for electric rotary feed-throughCable for shaft encoderInterfaces Start-up softwareAccessoriesMotor power cableFor the exact size of the required accessories, availability of this size and the designation and ID, please refer to the additional views at the end of the size in question. You will find more detailed information on our accessory range in the …Accessories“ catalog section.。
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[9]
A prototype one legged rickshaw showing the direct drive leg fully compressed (left)and fully extended (right).This robot rickshaw made a few short hops forward during the 90seconds of runtime before the prototype leg burned up,a result of not taking care of heat dissipation in the coils of this leg.Each leg link is about 4.5in length.
My most grateful thanks to Fred Hansen for precision machining and electrical engineering.Thanks to the NYU Computer Science graduate students who contributed to this research:Andreas Moshovos,BrettPorter,Ron Hecker and David Max.Thanks to the New York Academy of Science for appointing high school interns Josh Davis and Janak Gada to our laboratory.Thanks to Dr.Benjamin Bederson of Bellcore for highly useful discussions and insights.Thanks to Prof.Ken Goldberg of USC for collaborating on the applicationofthe directdrive actuators tothe Siggraph Data Mitt exhibit,and for discussions.Thanks to Profs.B.Mishra,Ken Perlin,Jack Schwartz,Robert Dewar,and Ed Schonburg for their support.
[1],
,in IEEE International Conference on Robotics and
Automation,May 1991.[2],
,Tech.Report CMU-RI-TR-81-
1,Carnegie Mellon,1981.[3]
,,in IEEE Interna-
tional Conference on Robotics and Automation,May 1992.[8]
A prototype direct drive finger joint with a90degree workspace.This finger joint includes Hall effect sensors to detect rotor position and an integrated power driver chip(L293)and A/D converter on the backplate of the stator.
Thick walled
cylinder
The universal link is a primitive element in a direct drive robotmechanism.Thelinkeliminatesallcomponentsfromtherobotexcept the essential parts:a rotor magnet(solid cylinder),a connecting shaft(thin walled cylinder),and the statorcoilforthenextlink(thickwalled cylinder). Because the link is the union of simple solid shapes,the link inertia matrix has a simple form.The coil assembly also contains a rotor shaft,not shown in this figure.
The direct drive finger is a three link mechanism made of stacked coil and magnet pairs.Maximum force at the fingertip is1.0Nt, and fingertip force is determined by controlled torques at the joints.The
finger has no gears and therefore has passive dynamics.
The Precision Spherical Pointing Motor is machined to a high tolerance and has a75degree conical workspace.The rotor limb containsacylindricalpermanentmagnet,andthestatorholdsoneadditional permanent magnet so that the rotor has a neutral resting orientation in the center of its workspace.
A low cost Spherical Pointing Motor(SPM)The SPM rotor is a permanent magnet attached to a gimbal.The actuator shaft extends outward from the gimbal.The stator consists of a pair of Helmholtz coils mounted orthogonally,and a thin steel plate that holds the magnet shaft in a centered position when no current flows into the coils.In addition to radiating excess heat from the coils,the heat sinks provide a structure to hold the coils.。