晓昀 发表于 2021-2-7 09:15:50

只计算同步带轮的转动惯量,你就按圆盘的转动惯量公式去计算;如果是选择电机,建议你用最原始的推导传动系统等效转动惯量的方法去计算等效到电机轴上的转动惯量。

果果大王a 发表于 2021-2-7 09:20:49

晓昀 发表于 2021-2-7 09:15
只计算同步带轮的转动惯量,你就按圆盘的转动惯量公式去计算;如果是选择电机,建议你用最原始的推导传动系 ...

我想知道的是,同步带上面物体的转动惯量,轮的转动惯量很小,可以忽略。

shentu 发表于 2021-2-7 09:31:43

果果大王a 发表于 2021-2-7 09:20
我想知道的是,同步带上面物体的转动惯量,轮的转动惯量很小,可以忽略。

同步带上,物体不是只作平移吗。。。。。。。还要转动?好歹你也上个图,列个公式啥的。你以为你说的大家都清楚,我也以为我讲的你都懂。但现实就是鸡在同鸭在讲。

晓昀 发表于 2021-2-7 09:56:57

果果大王a 发表于 2021-2-7 09:20
我想知道的是,同步带上面物体的转动惯量,轮的转动惯量很小,可以忽略。

同步带上面的物体是平动,没有转动惯量。

saiya100 发表于 2021-2-7 10:01:30

不对吧。假设:带传动速比1:1,负载mg,带轮直径D,质量m1;如果中间有减速器,设速比为i;
则折算到电机轴上的转动惯量为:
JL=/i^2


bokieworn 发表于 2021-2-7 10:24:35

本帖最后由 bokieworn 于 2021-2-7 10:25 编辑

我现在默认你是同步带上锁了个重物作拖动运动。折算到电机轴转动惯量:md^2/4。又不是算扭矩,跟你的摩擦系数毫无关系。摩擦系数从来就跟转动惯量没有关系,你看哪个转动惯量的公式不是跟m和r才有关系,m是质量,不是力。mg才是力。
你计算的数值过大,是不是把单位没有换算清楚?d是mm

果果大王a 发表于 2021-2-7 10:34:22

bokieworn 发表于 2021-2-7 10:24
我现在默认你是同步带上锁了个重物作拖动运动。折算到电机轴转动惯量:md^2/4。又不是算扭矩,跟你的摩擦 ...

15kg的物体,20mm的轮子半径,你算一下,转动惯量是data:image/png;base64,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,这个转动惯量根本就选不到合适的电机,实际使用过程中,哪里用这么大电机了,所以我感觉这么算不对。才怀疑是μmg+ma,也有人这么说。

果果大王a 发表于 2021-2-7 10:48:13

bokieworn 发表于 2021-2-7 10:24
我现在默认你是同步带上锁了个重物作拖动运动。折算到电机轴转动惯量:md^2/4。又不是算扭矩,跟你的摩擦 ...

重量15kg,40mm直径的带轮,算一下,转动惯量很大60*10负4次方kgm2。根本就没有合适的电机。现实用的时候,哪有这么夸张。

果果大王a 发表于 2021-2-7 11:02:09

果果大王a 发表于 2021-2-7 10:48
重量15kg,40mm直径的带轮,算一下,转动惯量很大60*10负4次方kgm2。根本就没有合适的电机。现实用的时候 ...

750w的伺服惯量才是1*10负4次方kgm2,差了60倍,明明现实中,有很多750w的直连用的负载20kg,一点问题没有。搞懵了真是。

bokieworn 发表于 2021-2-7 13:43:02

果果大王a 发表于 2021-2-7 10:48
重量15kg,40mm直径的带轮,算一下,转动惯量很大60*10负4次方kgm2。根本就没有合适的电机。现实用的时候 ...

15kg的东西不小了,惯量需要一个匹配值 台达的允许惯量比很高的
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查看完整版本: 求真正大神来说明,同步带轮传动惯量的计算问题,一知半解的请当观众