For the option | Do the following |
|---|---|
Actuator | |
Sprocket Set | |
Name | Enter the name of the sprocket. |
Chain System | |
Name | Name will be loaded automatically after sprocket set name entered. |
Actuator | |
Name | Enter the name of the actuator. Default name will be actuator_1. |
Sprocket | Enter the name of the actuator sprocket. |
Type | |
Torque | The torque actuation method applies a specified torque profile and the resulting rotational motion is determined based on the resistance defined in the system. |
Motion | The motion actuation method prescribes a motion profile that will be followed exactly. The actuator will apply whatever torque necessary to maintain the prescribed motion profile. |
Function | |
Function | ■Constant ■Harmonic Series ■Curve ■User Defined |
If you select Constant Function, the following options will be displayed: | |
Value | Enter the real value. The input to the actuator is a constant value. The value will have the units corresponding to the choice of actuator (angular_velocity when choosing motion, and torque when choosing torque). |
If you select Harmonic Series Function, the following options will be displayed. Specify the function of the actuator as a Fourier Sine series, by specifying the mean value, order, magnitude, phase shift, and angle multiplier. You also specify the direction of rotation. | |
Type | ■External ■File: Pick/Choose file. ■User Entered ■Mean Value ■Angle Multiplier ■Order, Magnitude & Phase-Shift |
If you select Curve Function, the following options will be displayed. Specify the function of the actuator as a spline depending on time or angle and angular velocity. You also specify the direction of rotation. | |
Type | ■Time ■File: Pick/Choose file. ■Time Offset: Optionally enter the value. Default is 0.0. ■Angle Velocity ■File: Pick/Choose file. ■Angle Offset: Optionally enter the value. Default is 0.0. ■Vel.Offset(RPM): Optionally enter the value. Default is 0.0. ■Velocity Ratio: Optionally enter the value. Available only for type "Torque". Default is 0.0. |
If you select User Defined Function, the following options will be displayed. Lets you create a user-specified function. Note that if you want to specify a velocity function, functions for motions must always use radians. | |
User Entered Function | Define your own function to drive the actuator. |
Direction | Choose the direction of motion/force applied. ■Clockwise ■Anti Clockwise |
Geometry scaling | Enter the value from 1 to 10. |
Active | Set the activity of the actuator to be either On or Off. |
Output | |
Motion | |
Angular Displacement | Rotational displacement relative to the attachment part. Only active if the sprocket is not fixed. |
Angular Velocity | Angular velocity relative to the attachment part. Only active if the sprocket is not fixed. |
Angular Acceleration | Angular acceleration relative to the attachment part. Only active if the sprocket is not fixed. |
Torque | Resulting torque in motion. |
Completion | This concludes the belt actuator specification. Click the Finish button to complete the belt actuator creation as specified or click Back to make modifications. |