Page 126 - Robotics Designing the Mechanisms for Automated Machinery
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Exercises 115
Exercise 3E-6a)
A mass m is moving along the diameter of a disc-like rotating body with a moment
of inertia /„ (see Figure 3E-6a)). The law of motion r(t) of this mass relative to the center
of the disc is r = R 0 cos at where R 0 and co are constant values. The mechanism is driven
by a DC electric motor with a characteristic T=T l-T Qco. Write the equation of motion
for the disc in this case. At the beginning of the process the motor is at rest.
Exercise 3E-7
Consider the electromagnet shown in Figure 3E-7. How will its response time
change if:
The number W of winds on its coil is doubled? The voltage £7 is doubled? The mass
m of the armature is doubled? (In each of the above-mentioned cases the rest of the
parameters stay unchanged.)
FIGURE 3E-6a)
FIGURE 3E-7
