Development of a novel mechatronic system for mechanical weed ...
Development of a novel mechatronic system for mechanical weed ...
Development of a novel mechatronic system for mechanical weed ...
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Materials and methods<br />
P = η * P<br />
(4.5)<br />
52<br />
out in<br />
After imputing Equation (4.5) and trans<strong>for</strong>ming the Equation (4.4) the output<br />
torque becomes the following <strong>for</strong>m<br />
M = η * G * M<br />
(4.6)<br />
out in<br />
By gearboxes attached to each other the final coefficient is a multiplier <strong>of</strong> the<br />
individual efficiency coefficients.<br />
The backlash is an important characteristic <strong>of</strong> a gearbox and can be defined as<br />
the possible angular displacement <strong>of</strong> the gearbox’s output shaft while the input<br />
shaft remains stationary. Simple gears can have a few degrees <strong>of</strong> backslash,<br />
precision gears much less and special gear <strong>system</strong>s like harmonic drive gears<br />
nearly zero. The main characteristics <strong>of</strong> a gearbox, such as maximum allowed<br />
torque at the output shaft and maximum allowed speed at the input shaft, are<br />
given in their specification.<br />
4.3.1.3 Adjustment <strong>of</strong> the parameters <strong>of</strong> the servo drive<br />
The chosen servo drive allows 4 types <strong>of</strong> control:<br />
� speed control (controls servomotor speed by means <strong>of</strong> an analog<br />
voltage speed reference),<br />
� position control (controls the position <strong>of</strong> the servomotor by means <strong>of</strong><br />
a pulse train position reference),<br />
� torque control (controls the servomotor’s output torque by means <strong>of</strong><br />
an analog voltage torque reference) and<br />
� contact input speed control (three operating speeds can be set in the<br />
drive and activated by switching).