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Appendix
Calculating the Motor Axis Load Torque (TL)
T
: Load torque (load axis, N·m)
W
F: External force (N)
D: Cylinder diameter (mm)
(Generally speaking, the force of friction is F = µ Mg (N).
µ : Coefficient of friction
M: Weight of drive mechanism (kg)
g: Acceleration of gravity (g ≈ 9.8 m/s
T
: Motor axis load torque (N·m)
L
Tw: Load torque (load axis, N·m)
Z1: Number of motor-side gear teeth
Z2: Number of load-side gear teeth
G: Gear ratio (reduction ratio) = Z1/Z2
7-6
D
T
w
F
2
)
Z2
Z1
D
−3
× 10
T
(N·m) = F·
w
2
G
T
(N·m) = T
·
L
W
η
Motor
T
L
Chapter 7
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