This document provides formulas for calculating the total moment of inertia (Jtot) in different mechanical drive systems.
1) For a direct drive system, Jtot equals the moment of inertia of the motor armature plus the moment of inertia of the load.
2) For a geared system, Jtot is calculated by summing the moments of inertia of each gear and load, accounting for gear ratios.
3) In a leadscrew drive, Jtot includes terms for the motor armature, leadscrew, load mass, and leadscrew properties like pitch and efficiency.
This document provides formulas for calculating the total moment of inertia (Jtot) in different mechanical drive systems.
1) For a direct drive system, Jtot equals the moment of inertia of the motor armature plus the moment of inertia of the load.
2) For a geared system, Jtot is calculated by summing the moments of inertia of each gear and load, accounting for gear ratios.
3) In a leadscrew drive, Jtot includes terms for the motor armature, leadscrew, load mass, and leadscrew properties like pitch and efficiency.
This document provides formulas for calculating the total moment of inertia (Jtot) in different mechanical drive systems.
1) For a direct drive system, Jtot equals the moment of inertia of the motor armature plus the moment of inertia of the load.
2) For a geared system, Jtot is calculated by summing the moments of inertia of each gear and load, accounting for gear ratios.
3) In a leadscrew drive, Jtot includes terms for the motor armature, leadscrew, load mass, and leadscrew properties like pitch and efficiency.
This document provides formulas for calculating the total moment of inertia (Jtot) in different mechanical drive systems.
1) For a direct drive system, Jtot equals the moment of inertia of the motor armature plus the moment of inertia of the load.
2) For a geared system, Jtot is calculated by summing the moments of inertia of each gear and load, accounting for gear ratios.
3) In a leadscrew drive, Jtot includes terms for the motor armature, leadscrew, load mass, and leadscrew properties like pitch and efficiency.
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Inertia Calculations
Cylindrical object (solid) of diameter D (radius R=D/2) and mass, M
1 1 MR 2 = MD 2 2 8 1 1 = lR 4 = lD 4 2 32 Jaa =mass moment of inertia about axis aa (polar moment of inertia) =density of the material l=length of cylinder J aa =
Cylindrical object (hollow) with inner diameter Di (radius Ri=Di/2), outer diameter Do (radius Ro=Do/2), and mass, M a
J aa = a
1 1 2 2 M (R o + R i2 ) = M (D o + D i2 ) 2 8 1 1 4 4 = l(R o R i4 ) = l(D o D i4 ) 2 32
Direct drive load
Load
Jtot = Jmotor armature + Jload
*Note: Shafts do have inertia, but their contribution to Jtot is often negligible. Why?
Gear driven load
N1
gear 1 N3 gear 3 Load N4 gear 4
N2 gear 2
Jtot = Jmotor armature + Jgear 1 + (N1/N2)2 [Jgear 2 + Jgear 3 + (N3/N4)2 {Jgear 4 + Jload}] Ni is the number of gear teeth on gear i. Ni/Nj is the gear ratio between gears i and j. (Note that the polar moment of inertia terms in the equation above refer to their central principal values about their axes of rotation) Leadscrew driven load J tot = J motor armature + J leadscrew + M 1 (2p ) 2 e
p = leadscrew pitch (threads/length) e = efficiency of leadscrew M = mass of load = density of leadscrew material
Tangentially driven load Jtot = Jmotor + Jpulley1 + Jpulley2 + MR2 + MbeltR2 M where Jpulley i is the polar moment of inertia for pulley i about its rotational axis, Mbelt is the mass of the belt, and R is the radius of both pulleys.
