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Turntable Rotary Actuator R2

1. Assumption and diagram


To find the worst loading condition, the angle between Inner and Outer
boom is assumed to be constant as 110o and the telescopic boom is fully
extended at 5460mm.

2. Calculation

Moment from the weight

The moment from weight of structure is negligible as it has no effect on


the axis of rotation of R2.

Wind load:

The moment acting on the actuator due to wind can be calculated using
the formula:
M Wind=M wind , structure + M wind ,operator + M wind ,equipment
In this part of calculation, the moments by the wind acting on the boom
turntable and tie link are considered to be negligible.
For

M wind , structure :

C .G
A Innerboom D R 2ofinnerboom

M wind ,structure =Pwind 1.2

C.G
C.G
A outerboom D R 2of outerboom + A teleboom D R 2 ofteleboom +
C .G
A pannier D R 2 ofpannier
For

M wind , opertator :

C.G
M wind , operator =Pwind Aoperator D R 2 ofpannier
According to BS 7171:1989 (5.3.3.3), for fence of 1.1m, area affected by
wind per human is taken as 0.4 m2 and the centre of area is 1.4 m above
platform. Since the design of the pannier has a height of 0.914 m,
assumed area per human is increased to 0.5 m2. There are 2 operators on
board thus the area is 1 m2.
According to BS 7171:1989 (5.3.3.2) (e), the shape factor for persons
directly exposed is 1
For

M wind , equipment :

C.G
M wind , equipment=0.03 mequipment gD R 2 ofpannier
According to BS 7171:1989 (5.3.3.6), Wind forces acting on the equipment is
equivalent to 3% of equipment weight.

Inertia Load

The moment acting on the actuator due to inertia can be calculated using the
formula:

M inertia =I total

For

I total :

I total =I turntableboom +I tielink + I innerboom


+ I outerboom + I teleboom +I pannier
+ I operator +I equipment
For each element, the following formula is used to find its inertia to R2
axis of rotation:

perpendicular C .G
I element .at R 2=I element .at c , g +melement D R 2 ofelement
Where:
-

I element .at c, g

and melement are found from Catia


perpendicular C .G
D R2 ofelement are found from Catia for turntable boom and

tielink and for the rest, it is calculated using the geometry which
would be shown in appendix

For

According to BS 7171:1989 (4.2(a.2)), the maximum speed is 0.7m/s. Assume it

takes 1 seconds to reach maximum speed so the acceleration is 0.7 m/s 2.


For the radius of rotation, the furthest radius from pannier to R2 axis of
rotation is assumed to be used in this case ( obtained from Matlab )
v 0.7
=

=
r
r
3. Maximum Torque

The total torque acting on the actuator that it needs to overcome can be
calculated by:
T =M weight + M Wind +M inertia
Condition for max
torque
1. Angle between
inner and outer
boom is 1100
2. Alpha angle is
14.5

Load
Weight
Wind
Inertia

Total:

Torque(Nm)
1.18x106
3442.5
49292

1.23 x106

4. R2 rotary actuator selection:


Assuming a safety factor of 1.5, the minimum torque required by R1 is therefore:
6

T design=1.23 10 1.5=1.845 10 Nm
Megatork hydraulic rotary actuator product line from Moog Flo-Tork is chosen
with the following details

Brand:

Model:

Hydraulic Rotary Actuator Model 25M

Mass:

146.51kg

Pressure Rating: 2500 psi / 172.4 bar

Torque:

Displacement Factor:

Displacement Volume: 547.2 litres (for 180 rotation)

Moog Flo-Tork

20832500 lb.in / 2.35

106

Nm

0.67 gal/deg / 3.045 litre/deg