Protesis de Rehabilitacion.

November 24, 2022 | Author: Anonymous | Category: N/A

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xii

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xiii

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xiv

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110

yF= yF1; else else xF = xF2; yF = yF2; end end rF = [xF yF 0]; % PAR E alpha1=atan((yF-yA)/(xF-xA)); BF=((BC+CD)^2+(DE+EF)^2-(2*(BC+CD)*(DE+EF)*cos(alpha3)))^0.5; phi7=acos((-(BC+CD)^2+BF^2+(DE+EF)^2)/(2*(DE+EF)*BF)); phi9= pi-alpha3-phi7; phi10=alpha2-phi9; AF=((xF-xA)^2+(yF-yA)^2)^0.5; phi11=acos((-(BF^2)+AF^2+AB^2)/(2*AB*AF)); phi8=pi-phi11-phi10; phi12=pi-phi7-phi8; % PAR E xE = xF + EF*cos(alpha1+phi12); yE = yF + EF*sin(alpha1+phi12); rE = [xF yF 0]; % PAR D xD = xE + DE*cos(alpha1+phi12); yD = yE + DE*sin(alpha1+phi12); rD = [xD yD 0]; % PAR C xC = xD + CD*cos(pi-alpha3+phi12+alpha1); yC = yD + CD*sin(pi-alpha3+phi12+alpha1); rC = [xC yC 0]; % PAR B xB = xC+(BC*cos(pi-alpha3+phi12+alpha1)); yB = yC+BC*sin(pi-alpha3+phi12+alpha1); rB = [xB yB 0]; %PAR G syms xG xG yG yG eqnG1 = (xG-xF)^2+(yG-yF)^2-FG^2==0; eqnG2 = (xH-xG)^2+(yH-yG)^2-GH^2==0; solG = solve([eqnG1 eqnG2],[xG yG]); xGpos = solG.xG; yGpos = solG.yG; xG1 = double(eval(xGpos(1))); xG2 = double(eval(xGpos(2))); yG1 = double(eval(yGpos(1))); yG2 = double(eval(yGpos(2))); if if xG1>xH xG1>xH xG = xG1; yG= yG1; else else xG = xG2; yG = yG2; end end rG = [xG yG 0]; phi4 = atan((yB-yC)/(xB-xC)); for for beta2= beta2= beta2:-2.5*(pi/180):-90*(pi/180) beta3 = beta3 - 1.4444*(pi/180); % DEDOS %MCP %MCP xJ = 0; yJ = 0; rJ = [xJ yJ 0]; %PIP %PIP xK = JK*cos(beta1); yK = JK*sin(beta1); rK = [xK yK 0]; %DIP %DIP xL = xK + KL*cos(beta1+beta2); yL = yK + KL*sin(beta1+beta2); rL = [xL yL 0]; %PAR I xI = xL + LI*cos(beta1+beta2+beta3); yI = yL + LI*sin(beta1+beta2+beta3); rI = [xI yI 0]; %PAR H xH = xL + LH*cos(beta1+beta2+beta3+beta4); yH = yL + LH*sin(beta1+beta2+beta3+beta4); rH = [xH yH 0]; contadorh=contadorh+1; vectorh(contadorh,:)=[rH]; % ESLABONES % PAR A

xA = -0.01; yA = 0.025;

111

rA = [xA yA 0]; % PAR F syms xF xF yF yF %JH= ((xJ+xK+xL+0.002)^2+(yJ+yK+yL+0.012)^2)^0.5 eqnF1 = (xF-xH)^2+(yF-yH)^2-FH^2==0; eqnF2 = (xF-xA)^2+(yF-yA)^2-AF^2==0; solF = solve([eqnF1 eqnF2],[xF yF]); xFpos = solF.xF; yFpos = solF.yF; xF1 = double(eval(xFpos(1))); xF2 = double(eval(xFpos(2))); yF1 = double(eval(yFpos(1))); yF2 = double(eval(yFpos(2))); if if xF1>xA xF1>xA xF = xF1; yF= yF1; else else xF = xF1; yF = yF1; end end rF = [xF yF 0]; % PAR E alpha1=atan((yF-yA)/(xF-xA)); BF=((BC+CD)^2+(DE+EF)^2-(2*(BC+CD)*(DE+EF)*cos(alpha3)))^0.5; phi7=acos((-(BC+CD)^2+BF^2+(DE+EF)^2)/(2*(DE+EF)*BF)); phi9= pi-alpha3-phi7; phi10=alpha2-phi9; AF=((xF-xA)^2+(yF-yA)^2)^0.5; phi11=acos((-(BF^2)+AF^2+AB^2)/(2*AB*AF)); phi8=pi-phi11-phi10; phi12=pi-phi7-phi8; if if xF>xA xF>xA % PAR E xE = xF + EF*cos(alpha1+phi12); yE = yF + rE = [xF yF 0]; % PAR D xD = xE + DE*cos(alpha1+phi12); yD = yE + rD = [xD yD 0]; % PAR C xC = xD + CD*cos(pi-alpha3+phi12+alpha1); rC = [xC yC 0]; % PAR B xB = xC+(BC*cos(pi-alpha3+phi12+alpha1)); rB = [xB yB 0]; else else % PAR E xE = xF - EF*cos(alpha1+phi12); yE = yF rE = [xF yF 0]; % PAR D xD = xE - DE*cos(alpha1+phi12); yD = yE rD = [xD yD 0]; % PAR C xC = xD - CD*cos(pi-alpha3+phi12+alpha1); rC = [xC yC 0]; % PAR B xB = xC-(BC*cos(pi-alpha3+phi12+alpha1)); rB = [xB yB 0]; end end %PAR G syms xG xG yG yG eqnG1 = (xG-xF)^2+(yG-yF)^2-FG^2==0; eqnG2 = (xH-xG)^2+(yH-yG)^2-GH^2==0;

EF*sin(alpha1+phi12); DE*sin(alpha1+phi12); yC = yD + CD*sin(pi-alpha3+phi12+alpha1); yB = yC+BC*sin(pi-alpha3+phi12+alpha1);

EF*sin(alpha1+phi12); DE*sin(alpha1+phi12); yC = yD - CD*sin(pi-alpha3+phi12+alpha1); yB = yC-BC*sin(pi-alpha3+phi12+alpha1);

solG = solve([eqnG1 eqnG2],[xG yG]); xGpos = solG.xG; yGpos = solG.yG; xG1 = double(eval(xGpos(1))); xG2 = double(eval(xGpos(2))); yG1 = double(eval(yGpos(1))); yG2 = double(eval(yGpos(2))); xG = xG1; yG = yG1; rG = [xG yG 0]; phi4 = atan((yB-yC)/(xB-xC));

112

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%% Coordenadas pares cinematicos AB = 0.039; BC = 0.0265; CD = 0.032; DE= 0.032 ;EF = 0.0415; FG=0.03; GH=0.03; FH=0.056; % [m] [m] JK = 0.022; KL=0.015; LI=0.01; LH=(0.012^2 + 0.01^2)^0.5; beta4 = atan(0.01/0.012); JH= 0.045; AF=0.088;

113

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"74&;+ 4#%#$*&1)$(+1 #/ %+$-.# H /), '.#$T), #1)1%$+0+*K%$&(),8 /) 2),# 4#/ ,&,%#*) 4# #,/)2+1#, 0)$) .1 4#4+0)$) #1 #Y%#1,&71 /), *IY&*), *#4&4), %% Coordenadas pares cinematicos AB = 0.039; BC = 0.0265; CD = 0.032; DE= 0.032 ;EF = 0.0415; FG=0.03; GH=0.03; FH=0.056; % [m] [m] JK = 0.064; KL=0.039; LI=0.03; LH=(0.017^2 + 0.015^2)^0.5; beta4 = atan(0.015/0.017); JH= 0.045; AF=0.13; %phi1 = 0.4*pi; % 90 grados [rad] alpha2 = 135*(pi/180); % [rad] alpha3 = 120*(pi/180); % [rad] phi2 = pi-alpha2; % [rad] phi3 = pi-alpha3; % [rad] phi5 = 41*(pi/180); % [rad] [rad] phi6 = (pi-(phi5))/2; % [rad] [rad] beta1 = 0*(pi/180); % Angulo MCP [rad] beta2 = 0*(pi/180); % Angulo PIP [rad] [rad] beta3 = 0*(pi/180); % Ángulo DIP [rad] [rad] % DEDOS %MCP xJ = 0; yJ = 0; rJ = [xJ yJ 0]; %PIP xK = JK*cos(beta1); yK = JK*sin(beta1); rK = [xK yK 0]; %DIP xL = xK + KL*cos(beta1+beta2); yL = yK + KL*sin(beta1+beta2); rL = [xL yL 0]; %PAR I xI = xL + LI*cos(beta1+beta2+beta3); yI = yL + LI*sin(beta1+beta2+beta3); rI = [xI yI 0]; %PAR H xH = xL + LH*cos(beta1+beta2+beta3+beta4); yH = yL + LH*sin(beta1+beta2+beta3+beta4); rH = [xH yH 0]; % ESLABONES % PAR A xA = -0.01; yA = 0.025; rA = [xA yA 0]; % PAR F syms xF xF yF yF %JH= ((xJ+xK+xL+0.002)^2+(yJ+yK+yL+0.012)^2)^0.5 eqnF1 = (xF-xH)^2+(yF-yH)^2-FH^2==0; eqnF2 = (xF-xA)^2+(yF-yA)^2-AF^2==0; solF = solve([eqnF1 eqnF2],[xF yF]); xFpos = solF.xF; yFpos = solF.yF; xF1 = double(eval(xFpos(1))); xF2 = double(eval(xFpos(2))); yF1 = double(eval(yFpos(1))); yF2 = double(eval(yFpos(2))); xF = xF2; yF= yF2; rF = [xF yF 0]; % PAR E alpha1=atan((yF-yA)/(xF-xA)); BF=((BC+CD)^2+(DE+EF)^2-(2*(BC+CD)*(DE+EF)*cos(alpha3)))^0.5; phi7=acos((-(BC+CD)^2+BF^2+(DE+EF)^2)/(2*(DE+EF)*BF));

phi9 pi alpha3 phi7; phi10=alpha2-phi9;

114

AF=((xF-xA)^2+(yF-yA)^2)^0.5; phi11=acos((-(BF^2)+AF^2+AB^2)/(2*AB*AF)); phi8=pi-phi11-phi10; phi12=pi-phi7-phi8; % PAR E xE = xF + EF*cos(alpha1+phi12); yE = yF + EF*sin(alpha1+phi12); rE = [xF yF 0]; % PAR D xD = xE + DE*cos(alpha1+phi12); yD = yE + DE*sin(alpha1+phi12); rD = [xD yD 0]; % PAR C xC = xD + CD*cos(pi-alpha3+phi12+alpha1); yC = yD + CD*sin(pi-alpha3+phi12+alpha1); rC = [xC yC 0]; % PAR B xB = xC + (BC*cos(pi-alpha3+phi12+alpha1)); yB = yC + BC*sin(pi-alpha3+phi12+alpha1); rB = [xB yB 0]; %PAR G syms xG xG yG yG eqnG1 = (xG-xF)^2+(yG-yF)^2-FG^2==0; eqnG2 = (xH-xG)^2+(yH-yG)^2-GH^2==0; solG = solve([eqnG1 eqnG2],[xG yG]); xGpos = solG.xG; yGpos = solG.yG; xG1 = double(eval(xGpos(1))); xG2 = double(eval(xGpos(2))); yG1 = double(eval(yGpos(1))); yG2 = double(eval(yGpos(2))); xG = xG2; yG = yG2; rG = [xG yG 0];

%% Velocidades w1= -1.0471; %[rad/s] %[rad/s] w1 = [0 0 w1]; % [rad/s] [rad/s] [m/s] vA = [0 0 0]; % [m/s] vJ = [0 0 0]; % [m/s] [m/s] [m/s] vK = [0 0 0]; % [m/s] vL = [0 0 0]; % [m/s] [m/s] % Vel B rBA = rB-rA; vB = vA+cross(w1,rBA); vBn = sqrt((vB(1))^2+(vB(2))^2+(vB(3))^2); % Vel C rCA = rC-rA; vC = vA+cross(w1,rCA); vCn = sqrt((vC(1))^2+(vC(2))^2+(vC(3))^2); % Vel D rDA = rD-rA; vD = vA+cross(w1,rDA); vDn = sqrt((vD(1))^2+(vD(2))^2+(vD(3))^2); % Vel E rEA = rE-rA; vE = vA+cross(w1,rEA); vEn = sqrt((vE(1))^2+(vE(2))^2+(vE(3))^2); % Vel F rFA = rF-rA; vF = vA+cross(w1,rFA); vFn = sqrt((vF(1))^2+(vF(2))^2+(vF(3))^2); %Vel H syms w2z syms w2z w3z w3z rHF = rH-rF; rHL = rH-rL; w2zs = w2z; w3zs = w3z; w2s = [0 0 w2zs]; w3s = [0 0 w3zs]; eqnvC = vF+cross(w2s,rHF)-vL-cross(w3s,rHL)==0; eqnvCx = eqnvC(1); eqnvCy = eqnvC(2);

solvC = solve([eqnvCx,eqnvCy],[w2z,w3z]);

115

w2z = (eval(solvC.w2z)); w3z = (eval(solvC.w3z)); w2 = [0 0 w2z]; w3 = [0 0 w3z]; vH = vB+cross(w2,rHF); % Vel G rGF = rG-rF; vG = vF+cross(w2,rGF); vGn = sqrt((vF(1))^2+(vF(2))^2+(vF(3))^2);

%% Aceleraciones wd1 = [0 0 0]; % [rad/s^2] [rad/s^2] aA = [0 0 0]; % [m/s] [m/s] [m/s] aJ = [0 0 0]; % [m/s] [m/s] aK = [0 0 0]; % [m/s] aL = [0 0 0]; % [m/s] [m/s] % Aceleración B aB = aA+cross(wd1,rBA)+cross(w1,cross(w1,rBA)); aBn = cross(wd1,rBA); aBt = cross(w1,cross(w1,rBA)); % Aceleración C aC = aA+cross(wd1,rCA)+cross(w1,cross(w1,rCA)); aCn = cross(wd1,rCA); aCt = cross(w1,cross(w1,rCA)); % Aceleración D aD = aA+cross(wd1,rDA)+cross(w1,cross(w1,rDA)); aDn = cross(wd1,rDA); aDt = cross(w1,cross(w1,rDA)); % Aceleración E aE = aA+cross(wd1,rEA)+cross(w1,cross(w1,rEA)); aEn = cross(wd1,rEA); aEt = cross(w1,cross(w1,rEA)); % Aceleración F aF = aA+cross(wd1,rFA)+cross(w1,cross(w1,rFA)); aFn = cross(wd1,rFA); aFt = cross(w1,cross(w1,rFA)); % Aceleración H: syms wd2z syms wd2z wd3z wd3z wd2zs = wd2z; wd3zs = wd3z; wd2s = [0 0 wd2zs]; wd3s = [0 0 wd3zs]; eqnaC = aF+cross(wd2s,rHF)+cross(w2,cross(w2,rHF))-aL-cross(wd3s,rHL)cross(w3,cross(w3,rHL))==0; eqnaCx = eqnaC(1); eqnaCy eqnaC(2); solaC == solve([eqnaCx,eqnaCy],[wd2z,wd3z]); wd2z = double(eval(solaC.wd2z)); wd3z = double(eval(solaC.wd3z)); wd2 = [0 0 wd2z]; wd3 = [0 0 wd3z]; aH = aF+cross(wd2,rHF)+cross(w2,cross(w2,rHF)); aHn = cross(wd2,rHF); aHt = cross(w2,cross(w2,rHF)); % Aceleración G aG = aF+cross(wd2,rGF)+cross(w2,cross(w2,rGF)); aGn = cross(wd2,rGF); aGt = cross(w2,cross(w2,rGF)); % Aceleración centros de masa: aC1 = aB/2; aC2 = (aB+aC)/2; aC3 = (aC+aD)/2; aC4 = (aD+aE)/2; aC5 = (aF+aE)/2; aC6 = (aF+aG)/2; aC7 = (aG+aH)/2;

%% Análisis de Fuerzas:

% Centro de masa rC1 = (rB+rA)/2;

116

rC2 = (rB+rC)/2; rC3 = (rC+rD)/2; rC4 = (rD+rE)/2; rC5 = (rF+rE)/2; rC6 = (rF+rG)/2; rC7 = (rH+rG)/2; % Gravedad g = 9.8; % [m/s^2] [m/s^2] % Masa eslabones m1 m2 m3 m4 m5 m6 m7

= = = = = =

0.004; 0.002; 0.002; 0.004; 0.004; 0.004;

% % % % % %

[kg] [kg] [kg] [kg] [kg] [kg] [kg] [kg] [kg] [kg] [kg] [kg]

% Dimensiones geoméricas eslabones h12 = 0.012; % Altura [m] [m] d12 = 0.008; % Espesor [m] [m] fe = 10; % Módulo de la fuerza [N] Fe = [fe*sin(beta3) fe*cos(beta3) 0] ; % [N] [N] % Peso de los G1 = [0 -m1*g G2 = [0 -m2*g G3 = [0 -m3*g G4 = [0 -m4*g G5 = [0 -m5*g G6 = [0 -m6*g G7 = [0 -m7*g

eslabones (Fuerza gravitacional): 0]; 0]; 0]; 0]; 0]; 0]; 0];

% Momento de inercia de masa con respecto al centro de gravedad: Ic1 = m1*(AB^2+h12^2)/12; % [kgm^2] [kgm^2] Ic2 = m2*(BC^2+h12^2)/12; % [kgm^2] [kgm^2] [kgm^2] Ic3 = m3*(CD^2+h12^2)/12; % [kgm^2] Ic4 = m4*(DE^2+h12^2)/12; % [kgm^2] [kgm^2] Ic5 = m5*(EF^2+h12^2)/12; % [kgm^2] [kgm^2] Ic6 = m6*(FG^2+h12^2)/12; % [kgm^2] [kgm^2] [kgm^2] Ic7 = m7*(GH^2+h12^2)/12; % [kgm^2] % Fuerzas de Inercia: Fin1 = m1*aC1; % [N] [N] Fin2 = m2*aC2; % [N] [N] Fin3 = m3*aC3; % [N] [N] Fin4 = m4*aC4; % [N] [N] Fin5 = m5*aC5; % [N] [N] Fin6 = m6*aC6; % [N] [N] Fin7 = m7*aC7; % [N] [N] % Momentos de Inercia: Min1 = wd1*Ic1; % [N] [N] Min2 = wd1*Ic2; % [N] [N] [N] Min3 = wd1*Ic3; % [N] Min4 = wd1*Ic4; % [N] [N] Min5 = wd1*Ic5; % [N] [N] [N] Min6 = wd2*Ic6; % [N] Min7 = wd2*Ic7; % [N] [N] % Ecuaciones de Newton-Euler: syms F12xz F12xz F12yz F12yz F23xz F23xz F23yz F23yz F34xz F34xz F34yz F34yz F45xz F45xz F45yz F45yz F56xz F56xz F56yz F56yz F67xz F67xz F67yz F12x = F12xz; F12y = F12yz; F23x = F23xz; F23y = F23yz; F34x = F34xz; F34y = F34yz; F45x = F45xz; F45y = F45yz; F56x = F56xz; F56y = F56yz; F67x = F67xz; F67y = F67yz; % Eslabón 2: F23 = [ F23x F23y 0 ]; F32 = -F23; F12 = [ F12x F12y 0 ]; eqnF2 = G2+F12+F32-Fin2==0; eqnF2x = eqnF2(1);

eqnF2y = eqnF2(2);

117

% Eslabón 3: F34 = [ F34x F34y 0 ]; F43 = -F34; eqnF3 = G3+F23+F43-Fin3==0; eqnF3x = eqnF3(1); eqnF3y = eqnF3(2); % Eslabón 4: F45 = -F45; [ F45x F45y 0 ]; F54 eqnF4 = G4+F34+F54-Fin4==0; eqnF4x = eqnF4(1); eqnF4y = eqnF4(2); % Eslabón 5: F56 = [ F56x F56y 0 ]; F65 = -F56; eqnF5 = G5+F45+F65-Fin5==0; eqnF5x = eqnF5(1); eqnF5y = eqnF5(2); % Eslabón 6: F67 = [ F67x F67y 0 ]; F76 = -F67; eqnF6 = G6+F56+F76-Fin6==0; eqnF6x = eqnF6(1); eqnF6y = eqnF6(2); % Eslabón 7: eqnF7 = G7+F67+Fe-Fin7==0; eqnF7x = eqnF7(1); eqnF7y = eqnF7(2); % Solución Preliminar: solu = solve([eqnF2x,eqnF2y,eqnF3x,eqnF3y,eqnF4x,eqnF4y,eqnF5x,eqnF5y,eqnF6x,eqnF6y,eqnF7x,eqnF7y],[F12x z,F12yz,F23xz,F23yz,F34xz,F34yz,F45xz,F45yz,F56xz,F56yz,F67xz,F67yz]); F12xs F12ys F23xs F23ys F34xs F34ys

= = = = = =

double(eval(solu.F12xz)); double(eval(solu.F12yz)); double(eval(solu.F23xz)); double(eval(solu.F23yz)); double(eval(solu.F34xz)); double(eval(solu.F34yz));

F45xs F45ys F56xs F56ys F67xs F67ys

= = = = = =

double(eval(solu.F45xz)); double(eval(solu.F45yz)); double(eval(solu.F56xz)); double(eval(solu.F56yz)); double(eval(solu.F67xz)); double(eval(solu.F67yz));

F12s F23s F34s F45s F56s F67s

= = = = = =

[ [ [ [ [ [

F12xs, F23xs, F34xs, F45xs, F56xs, F67xs,

F12ys, F23ys, F34ys, F45ys, F56ys, F67ys,

0 0 0 0 0 0

]; ]; ]; ]; ]; ];

rAC1 = rA-rC1; rBC1 = rB-rC1; F21=-F12s; F01 = -F21-G1+Fin1; Mm = Min1-cross(rBC1,F21)-cross(rAC1,F01);

118

B)$) 4#%#$*&1)$ #/ %+$-.# H /), '.#$T), #1 /) 2),# 4#/ ,&,%#*) 4# #,/)2+1#, (+1 /), *A1&*), *#4&4), )1%$+0+*K%$&(), 4# .1 4#4+ %$&')/I1;&(+ #1 #Y%#1,&71 ,# .,) #/ (74&;+ )1%#, 0$#,#1%)4+5 0#$+ ()*2&)14+ /+, ,&;.%#, 6)/+$#,a %% Coordenadas pares cinematicos AB = 0.039; BC = 0.0265; CD = 0.032; DE= 0.032 ;EF = 0.0415; FG=0.03; GH=0.03; FH=0.056; % [m] [m] JK = 0.022; KL=0.015; LI=0.01; LH=(0.012^2 + 0.01^2)^0.5; beta4 = atan(0.01/0.012); JH= 0.045; AF=0.088;

Z&1)/*#1%#5 0)$) #,%)2/#(#, #/ %+$-.# H /), '.#$T), 0)$) .1 4#4+ #1 '/#Y&71 ,# 4#2#1 ()*2&)$ #/ 6)/+$ 4# /+, ,&;.%#, I1;./+,a 2#%) _a oghy 2#%) à oghy 2#%) ca oehy

119

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Carácter del movimiento principall principa

Uniforme

Impacto ligero

Impacto medio

Impacto pesado

Uniforme Impacto ligero Impacto medio Impacto pesado

1.00 1.10 1.25 1.50

1.25 1.35 1.50 1.75

1.50 1.60 1.75 2.00

1.75 o mayor 1.85 o mayor 2.00 o mayor 2.25 o mayor

mZ.#1%#a pd`qn

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9/10/07 15:45:11

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(Unidades acostumbradas en Estados Unidos)

A

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2/3

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Número de dientes del engrane acoplado 13

100

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20

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0. 18

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0. 22

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Factor geométrico, J  ( (Y  J )

0.32

0.34

0.36

0.48

0.40

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Factores de confiabilidad del acero*

Requerimientos de aplicación

C R (Z R ( Z Z) Z

Menos de una falla en 10 000 Menos de una falla en 1 000 Menos de una falla en 100 Menos de una falla en 10 Menos de una falla en 2

† K R (Y R ( Y Z Z)

1.22 1.12 1.00 0.92

1.50 1.25 1.00 0.85‡

0.84

0.70§

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C xc = Z xc =

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2.0

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mZ.#1%#a pd`q5 pdcqn

122

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1.14 1.7 1.12

1.6

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1.5

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1.08

1.3 1.06 1.2 1.04

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H BP

H B

1

H BG

H B

2

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use C  H  ( Z Z W ) = 1 1.00

0

2

4

6

8

10

12

14

16

18

20

Relación de reducción de engranes, N / n ( z z2 / z1)

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123

'DAjV =E 9)+%+$ D" _i_i\h_`, ON ZJVNbJ=LO Series 1717 ... SR Values at 22°C and nominal voltage 1717 T 1 Nomina Nominall vol voltag tage e U N N   R 2 Termi Terminal nal res resist istanc ance e 3 Efficie Efficiency ncy,, max max.. ηmax. 4 No No-l -loa oad d sp speed eed n 00   5 No-load No-load current, current, typ. (w (with ith shaft shaft ø 1,5 mm) I 00   6 Stal Stalll ttor orqu que e M H H   M RR   7 Fricti Friction on tor torque que 8 Speed Speed ccon onst stan antt k nn   k EE   9 Bac Back-EM k-EMF F con consta stant nt 10 Torqu Torque e co const nstant ant k M M   11 Cur Curren rentt ccons onstan tantt k II   12 Slope Slope o off n-M n-M cu curve rve Δn  / ΔM 13 Rot Rotor or induct inductance ance L 14 Mechanical Mechanical time consta constant nt τ mm   15 Ro Roto torr inert inertia ia J 16 Ang Angula ularr accelera acceleratio tion n α mmax. ax. R tth1 h2 17 The Therma rmall resist resistanc ance e h1 / R tth2 18 19 20 21

22 23 24 25 26 27 28

w1

Note:

006 SR 6 4,3 69 14 000 0,046 5,34 0,18 2 410 0,414 3,96 0,253 2 620 65 16 0,58 92

012 SR 12 17,1 70 14 000 0,023 5,38 0,18 1 210 0,829 7,92 0,126 2 600 260 16 0,59 92

The diagram indicates the recommended speed in relation to the available torque at the output shaft for a given ambient temperature of 22°C.

The nominal voltage (U N) curve shows the operating point at nominal voltage in the insulated and thermally coupled condition. Any points of operation above the curve at nominal voltage will require a higher operating operating voltage. Any points below the nominal voltage curve will require less voltage.

V Ω

% min-¹ A m Nm m Nm min-¹ /V mV/min-¹ mNm/A A/mNm min-¹ /mNm µH ms gcm² ·10³rad/s²

2 / 210

s

-30 ... + +8 85 (optional version +125 sintered bearings (standard) 1,5 1,2 0,2 20

-55 ... +125)

°C °C

ball bearings, preloaded (optional version) 1,5 5 0,5 10

mm N N N

0,03 0,015 0,2 0 steel, black coated 18 clockwise, viewed from the front face 16 000 1 NdFeB

M N N   I N N   n N N

1,2 0,7 0, 10 790

2,1 0,63 6 540

mm mm g min-¹

2,1 0,32 6 570

2,1 0,19 4 570 R th2 th2  value value

n [min-1]

21 000 18 000

2,0

3,5

2,2 0,16 6 540

m Nm A min-¹

has been reduced by 0%. 1717T024SR 1717T024SR (Rth2 -50%) Intermittent operation Operating point at nominal value

Watt

0,5

15 000 The diagram shows the motor in a completely insulated as well as thermally coupled condition (Rth2 50% reduced).

024 SR 24 68,8 70 14 000 0,011 5,36 0,17 602 1,66 15,9 0,063 2 610 1 040 16 0,59 92

K /W

Rated values are calculated with nominal voltage and at a 22°C ambient temperature. The

Note:

018 SR 18 50,1 68 12 300 0,013 4,66 0,18 709 1,41 13,5 0,074 2 640 760 16 0,58 80

4,5 / 27

w2

The Therma rmal l time tim e cons constan tantt range: τ / τ Operating Opera ting temper temperature ature – motor – winding, max. permissible S Sh haft bearings Shaft load max.: – with shaft diameter – radial at 3 000 min -¹ ( (3 3 mm from bearing) – axial at 3 000 min -¹ – axial at standstill Shaft play: ≤ – radial – axial ≤ Housing material Mass Direction of rotation Speed Speed up to n m max. ax. Number of pole pairs Magnet material

Rated values for continuous operation 29 Ra Rate ted d to torq rque ue 30 Rated current current (thermal (thermal limit) limit) 31 Ra Rate ted d spe speed ed

003 SR 3 1,07 1, 69 69 14 000 0,091 0, 5,37 0,18 4 820 0,207 1,98 0,505 0, 2 610 17 16 0,59 92 92

5,0

UN

12 000 9 000 6 000 3 000 M [mNm]

0 0

0,5

1,0

1,5

2,0

2,5

3,0

3,5

4,0

Recommended operation areas (example: nominal voltage 24V)

For notes on technical data and lifetime performance refer to “Technical Information”. Edition 2017

© DR. FRITZ FAULHABER GMBH & CO. KG Specifications subject to change without notice.

mZ.#1%#a pd`qn 124

O#4.(%+ _iu_ dgda_ ZJVNbJ=LO

Series 17/1 17/1 stainless steel steel

Housing material Geartrain material Recommended max. input speed for: – continuous operation Backlash, at no-load Bearings on output shaft Shaft load, max.: – radial (6,5 mm from mounting face) – axial Shaft press fit force, max. Shaft play – radial (6,5 mm from mounting face) – axial Operating temperature range Specifications Number of gear stages Continuous torque Intermittent torque Mass without motor, ca. Efficiency, max. Direction of rotation, drive to output

8 000 min-¹ ° sintered bearings

≤ 2

≤ 5 N ≤ 3 N ≤ 100

8 000 min-¹ ° ball bearings, preloaded

≤ 2

N

≤ 0,06 mm ≤ 0, 0,1 mm

≤ 75 ≤ 12 ≤ 35

mNm mNm g %

1 550 800 28 90 = 3,33:1 4,5:1

L2 [m [ mm] = length without motor L1 [ [m mm] = length with motor 1624T...S 1717T...SR 1724T...SR 1727U...CXR 1741U...CXR 1628T...B AM1524...-55

18,6 42,4 35,6 42,6 45,8 59,8 46,6 35,0

2 550 800 35 80 =

mm = 0 mm - 30 ... + 100 °C

3 550 800 42 70 =

11:1 15:1 20:1

23,7 47,5 40,7 47,7 50,9 64,9 51,7 40,1

N N N

≤ 0,03

- 30 ... + 100 °C

Reduction ratio 1) (rounded)

1)

17/1 K stainless steel steel

4 550 800 49 60 =

37:1 44:1 50:1 68:1 81:1 91:1

5 550 800 56 50 =

123:1 148:1 167:1 178:1 200:1 240:1 270:1 304:1 365:1

28,8 52,6 45,8 52,8 56,0 70,0 56,8 45,2

412:1 494:1 593:1 667:1 750:1 800:1 900:1 1 013:1 1 367:1

33,9 57,7 50,9 57,9 61,1 75,1 61,9 50,3

39,1 62,9 56,1 63,1 66,3 80,3 67,1 55,5

The reduction ratios are rounded, the exact values are available on request or at www.faulhaber.com. Orientation with respect to motor terminals not defined

For more combinations see table. Example of combination with 1717...SR

3x

M2 3 deep

ø17 ±0,1

0

-0,01

ø9 -0,015

ø4 -0,018

0

ø9 -0,01

0

3,5 -0,05

3x 120°

8 ø14

11,3 ±0,3 L2 ±0,3

17/1

Edition 2017

mZ.#1%#a pddqn

10,75 ±0,3

13,5 ±0,3 14 ±0,3

L1 ±0,8

For notes on technical data and lifetime performance refer to “Technical Information”.

+0,2 0

17/1 K

© DR. FRITZ FAULHABER GMBH & CO. KG Specifications subject to change without notice.

125

'DAjV =*E 014.*$'# ('1' /"+"13*-'1 &)# .'$+)1"# /" "#.%"1>)# ' +)1#*8- 7 .&"k*8- "- '0%

Protesis de Rehabilitacion.

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