Actuator Helper Sheet dwR 1/25/1999

Ball Screw NSK 8-2 Force/Speed Curve

Motor BN 23-23 Load Continuous (m/s) Intermittent (m/s)
Spring D-1122 0 0.28 0.28
Density of Steel (kg/m^3) 7850 600 0.22 0.22
Actuator Stroke (m) 0.18 675 0 0.2
1350 0 0.13
Inertia Properties of Magnet and Ball Screw (Assume Steel) Force Speed Curve

Magnet 0.3
0.28
ID (mm) 8.00 0.25
0.23
OD (mm) 25.40 0.2
L (mm) 38.30

Speed (m/s)
0.18
0.15
Vol (m^3) 1.75E-05 0.13

Mass (kg) = Vol*density 0.137 0.1

0.08
Jmag (kg-m^2) = pi*density*L*(OD^4-ID^4)/32 1.22E-05 0.05
0.03
Ball Screw 0
OD (mm) 8.00 0 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400

L (mm) 254.00 Load (N)

Vol (m^3) 1.28E-05
Mass (kg) = Vol*density 0.100 Full Range Frequencies
Jbs (kg-m^2) = pi*density*L*(OD^4-ID^4)/32 8.02E-07 Load Continuous Intermittent
Equivalent Linear Inertia through ball screw 0 1.54 1.54
Lead (mm/rev) 2 600 1.20 1.20
Gear Reduction = 2*pi/lead (in rad/m) 3142 675 0.00 1.13
Mmagnet(kg) = Jmag*GR^2 120.063 1350 0.00 0.71
Mballscrew(kg) = Jbs*GR*2 7.913 Full Range Frequencies

Mtotal (kg) Reflected Inertia 127.976

1.60
1.50

1.40
1.30
1.20

Resonance of Mass-spring system 1.10

1.00

K(lbs/in) 450
Frequency (Hz)

0.90
0.80

K(N/m) = Kenglish * 175 78750 0.70

0.60

wn = sqrt(4*K/Mtotal) 49.6 0.50

0.40

Hz = wn/(2*pi) 7.9 0.30

0.20

wn reflects that K of actuator = 4*K of single spring

0.10
0.00

0 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400

Component Limits Load (N)

Motor
Torque (N/m) 0.7
Speed (RPM) 8000
Linear Force (torque*GR) (N) 2199
Linear Speed (RPM*Lead/60sec) (m/s) 0.267
Max Power (Force*Speed/4) (Watts) 147
Ballscrew
dynamic load limit (kgf) 135
Linear Force (load limit*g) (N) 1324
Linear Speed (Same as motor) (m/s) 0.267
Max Power (Force*Speed) (Watts) 353
 Ballscrewtype

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