Formulas and Units

Transmission technical calculations Main Formulas Size designations and units according to the SI-units

Linear movement:

Rotation

= 2 f
s v= t
s = v t sa =
a=
m/s m m

rad/s m/s Nm W Nm Ws or J kgm2

v = r = 2 f r

M = F r
P = M
& M = J

1 2 a ta 2

v ta

m/s2 W N Ws Ws

J 2 W= 2

P = F v
F = ma

J = m r2

W = Fs W= m v2 2

Units used v = velocity in m/s M = mass in kg P= power in W s = length in m t = time in sec. a = acc. in m/s
2

F= force in N W = work in Ws = J = Nm = ang. velocity in rad./sec. f = frequency in rev./sec. r = radius in m M = torque in Nm

J = Rotational mass moment of inertia in kgm2

& = angular acc. in rad/s2

Ma= acceleration torque in Nm

ta = acc. time in sec.

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Formulae for the transmission technique Power Rotational Movement:

Ps = M W (without loss)

Linear Movement:
P = F v 1

=
P=

n 30

rad/s
P=

Mn 30 Mn 1 30 1000

F v 1 1000

kW

Lead screw:

P=

kW

M=

F p 2000

Nm

Torque

Toothed belt: Nm Nm

M = F r
MA = P 9550 n

v = D n m= D= D z zt

m/min

Units used: M = torque in Nm = angular velocity in rad/s n = revolutions/min. = efficiency (motor) F = force in N z = number of teeth t = distance between teeth in mm v = velocity in m/min MA = delivered torque in Nm r = radius in m P= power in kW or W D= diameter in m m = module p = pitch in mm/rev Ps = transmitted shaft power P= necessary motor power

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Acceleration torque Jn Ma = ta 30

Nm

For operation of electrical motors with gear transmission:

Ma =

J red n ta 30

Nm

Reduction of rotational mass moment of inertia

J red

n2 1 = 2 J = 2 J n mot i

kgm2

Linearly moveable masses is reduced to the number of revolutions of the motor according to:

Rotational mass moment of inertia of a solid cylinder:

J red = 91.2 m

v2 n
2 mot

kgm2

1 J = m r2y 2

kgm2

Units used: Ma = acceleration torque in Nm J = rotational mass moment of inertia in kgm2 n = number of revolutions in rev./min. m = mass in kg ta = acceleration time in s ry = outer radius of solid cylinder v = velocity in m/s Jred = reduced rotational mass moment referred to the motor shaft in kgm2 nmot = number of revolutions of motor in rev/min.

i=

n mot gear ratio n

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Acceleration and deceleration time

ta =

Jn 9.55 M a

Braking work
A= Mb J n 2 mot red Mb + ML 182.4

Ws

Necessary power for linear movement

P= F v 1000

kW

Force at sliding friction

F = mg

Units used: Ma = acceleration torque in Nm = friction coefficient Mb = braking torque in Nm ML = load torque reduced to the motorshaft in Nm ta = acceleration time in s J = rotational mass moment of inertia in kgm2 n = Number of revolutions in rev./min. v = linear velocity in m/s W = work in Ws or J m = load in kg g = gravity (9.81 m/s2) = efficiency of linear movement Jred = reduced rotational mass moment of inertia referred to the motor shaft nmot = number of revolutions of motor in rev/min. P = power in kW F = force in N

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Frictional force during linear movement using wheels or rails

F=

2 mg d (1 + f) 2 N D 2

By approximate calculations it is often simple to use the specific running resistance R in N/ton carriage weight by calculation of the required power.
P= R qv 1000

kW

Heavier carriages on rails, roller bearings R = 70 100N/ton Lighter carriages on rails, roller bearings R = 100 150N/ton

Units used: F = force in N m = load in kg g = gravity D = wheel- or roller diameter in m f = rolling friction radius d = shaft diameter in m
1

= bearing friction = rail- or side friction

v = velocity in m/s = efficiency q = load in ton

Rolling friction radius, f (m): Steel against steel Steel against wood Hard rubber against steel Hard rubber against concrete Inflated rubber tire against concrete Bearing, rail- and side friction: Roller bearings 1 = 0.005 Sliding bearings 1 = 0.08 0.1 Roller bearings 2 = 1.6 Slide bearings 2 = 1.15 Sideguides with rollerbearings 2 = 1.1 Roller guides side friction 2 = 1.8 f = 0.0003 0.0008 f = 0.0012 f = 0.007 0.02 f = 0.01 0.02 f = 0.004 0.025

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SI - Units
Symbol SI basic units m kg s A K Measure length mass time electrical current temperature Unit metre kilogram second ampere Kelvin

Designation For Motion Control a , d h l r s V a

Measure distance angle angle diameter height length radius distance volume linear acceleration angular acc. frequency gravity revolutions per unit angular velocity time constant time linear velocity force weight force Rotational mass moment of inertia torque mass power energy efficiency friction coefficient gear ratio current active power resistance appearent power voltage

Unit metre radian degree metre metre metre metre metre cubic-metre

Symbol m rad m m m m m 3 m 2 m/s 2 rad/s Hz 2 m/s 1/s rad/s s s m/s N N 2 kgm Nm kg W J

&
f g n w T t v Mechanical F G J M m P W

Hertz rev./min. second second

Newton Newton

Newtonmetre kilogram Watt Joule

i Electrical I P R S,Ps U

Ampere Watt Ohm Voltampere Volt

A W W, VA V

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The rotating mass moment of inertia of rotating bodies Body Rotation Symbol Rotational mass moment of inertia, J in kgm2 m r2

Hollow cylinder Homogeneous cylinder Thickwalled cylinder

Around own axis Around own axis

m 2 r 2 m (r 21 + r 2 2 ) 2 m 2 r 2 m 2 r 4 2 m 2 r 5 2 m 2 r 3 m 2 l 12

Around own axis

Disc Disc Sphere

Around own axis Around own plane Around own center

Thinwalled sphere

Around own center

Thin rod

Perpendicular around own axis

Steiners Equation Rotational mass moment of inertia relative to a parallel shaft in the distance a

J = J0 + m r 2
J0 = rotational mass moment of inertia relative to the center of gravity axis m = mass of the body r = shaft distance

kgm2

kgm2

kg m

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Correlation between rotational mass moment of inertia and rotating mass

J = m rJ
2

kgm2

Units used: J = rotational mass moment of inertia in kgm2 m = mass in kg rJ = inertial radius in m

The efficiency for different types of drives are often values obtained by experience: Some normal values for parts with rollerbearings: Drive belt with 180 force transmitting angle Chain with 180 force transmitting angle Toothed rod Transporting belt with 180 transmitting angle Wire with 180 transmitting angle = 0.9 0.95 = 0.9 0.96 = 0.8 0.9 = 0.8 0.85 = 0.9 0.95

The friction values are difficult to give correctly and are dependant on surface conditions and lubrication. Some normal values: Steel against steel

static friction, dry dynamic friction, dry static friction, viscous dynamic friction, viscous static friction, dry Dynamic friction, viscous Static friction, dry Dynamic friction, viscous static friction, dry Dynamic friction, viscous

= 0.12 0.6 = 0.08 0.5 = 0.12 0.35 = 0.04 0.25 = 0.45 0.75 = 0.3 0.6 = 0.4 0.75 = 0.3 0.5 = 0.2 0.45 = 0.18 0.35

Wood against steel

Wood against wood

Plastic against steel

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The twisting torque on a shaft from a pulling force is according to the following:

M = F r = F
Units used:

d0 2

Nm

Efficiency, Toothed wheel Chain wheel = 0.95 = 0.95 = 0.80 = 0.40 = 0.20

F = cross force Toothed belt M = twisting torque Flat belt do = effective diameter on toothed wheel or chain wheel = efficiency r = radius in m Flat belt, pre-tensed

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