Using the following lines, let us create a virtual data concerning the joint torque (Nm) and angular velocity (RPM) of an imaginary actuator system: Kx Kn dt Ts nS 29; 200; 0.001; sampling time 10; simulation time Ts/dt +1; for i = 1:nS t(i). (i-1) *dt; time variable tau (i) = Kx*sin (2*pi*0.5*t(i)) + 0.1*sin (2*pi*50*t (i)); dq (i) = Kn*cos (2*pi*0.5*t(i))*9.24; SOME CALCULATONS HERE end THEN SOME OTHE CALCULATIONS HERE Calculate the average torque T_avg. Then referring the Harmonic Drive Catalogue, choose a gear model with a gear ratio of 1:30 in accordance with the T avg value you calculated. Explain the rationale behind your choice.

Using the following lines, let us create a virtual data concerning the joint torque (Nm) and angular velocity (RPM) of an imaginary actuator system: Kx Kn dt Ts nS 29; 200; 0.001; sampling time 10; simulation time Ts/dt +1; for i = 1:nS t(i). (i-1) dt; time variable tau (i) = Kxsin (2pi0.5t(i)) + 0.1sin (2pi50t (i)); dq (i) = Kncos (2pi0.5t(i))9.24; SOME CALCULATONS HERE end THEN SOME OTHE CALCULATIONS HERE Calculate the average torque T_avg. Then referring the Harmonic Drive Catalogue, choose a gear model with a gear ratio of 1:30 in accordance with the T avg value you calculated. Explain the rationale behind your choice.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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