Rack & Pinion System
The rack and pinion mechanism converts
90°
rotational motion into linear motion. It offers both
high precision and high cyclic rates. They're used
for Cartesian coordinate robots, robotics, gantry
tak
rvo type machining centers, movable column milling
Se
machines, lathes, simulators and test benches,
elevators, machine tools, etc. Servotak precision
rack and pinion offer multiple advantages compared
γ to other manufacturers.
0° Disclaimer
This tool has been created to assist engineers
Rack & Pinion System
with the sizing of the different parts of the system.
Calculations might not cover all corner cases. and
results should always be checked by a qualified
engineer. Under no circumstances shall we beheld
responsible to any damages to persons or property
due to correct or incorrect use of this tool, or to
errors in it.
Cycle Duration
t cycle=t a +t cs +t d +t dw [ s ]
Cycles per Minute
60
Z=
t cycle
Friction Force
γ⋅π
Ff=
m⋅μ⋅g⋅cos ( ) [N]
180
η
Acceleration Force
m⋅a
F acc = [N]
η
Force due to Gravity
γ⋅π
F w=
m⋅g⋅sin ( ) [N]
180
η
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
Max. Tangential Force on Pinion
Constants F acc + F f + F w +F ,
Pi π≃3.141592654
F t =max
( F dec−F f −F w
[N]
)
Acceleration of Gravity m
on Earth
g=9.80665 2 Max. Radial Force on Pinion (Straight Pinion)
s
Inputs
F r =F t⋅tan ( α⋅π
180 )
[N]
Acceleration Time t a [ s]
Max. Radial Force on Pinion (Helical Pinion)
Deceleration Time td [ s ] α⋅π
Constant Speed Time t cs [ s ]
Fr =
F t⋅tan ( ) [N]
180
t dw [ s ] β⋅π
cos (
180 )
Dwell Time
System Inclination γ [ degrees ]
Traveling Weight m [ kg ] Max. Axial Force on Pinion
β⋅π
Speed v
m
[ ]
s
F ax =F t⋅tan ( ) [N]
180
Static Friction μs Total Inertia as Seen by the Motor
Coefficient 2
v
Service Factor
System Efficiency
KA
η
J T 1 =91.2⋅m⋅
n1 ( ) [ kg⋅m2 ]
Pinion Pitch Diameter d [ mm ] Load to Motor Inertia Ratio
10000⋅J T 1
Pinion Inertia J P [ kg⋅cm2 ] Λ=
J M+ J R+ J P
Pinion Pressure Angle α [ degrees ]
Linear Acceleration
β β
Pinion Helix Angle β=βd + m + s v m
60 3600
β [ degrees ]
a=
ta []
s2
βd [ degrees ]
Linear Deceleration
βm [ arcmin ]
v m
βs [ arcsec ] d=
td []
s2
Machining Force F [N]
Pinion Rotational Speed
Motor Inertia J M [ kg⋅cm2 ]
60⋅v
Motor Max. Speed
n2 = [ rpm ]
n1 [ rpm ] d
During Cycle π⋅
1000
Gearbox Inertia J R [ kg⋅cm2 ]
Positioning Accuracy
Axis Automation, APlata,
SLU Avda de la
P mm [ ]
23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
Maximum Required Motor Power
T 2⋅n 2
P 1= [ kW ]
9550
Ideal Gearbox Ratio
n1
i=
n2
Ideal Gearbox Backlash
60⋅A p
Δ ϕ= [ arcmin ]
2⋅π d
⋅
360 2
Note: This considers only the internal backlash of
the gearbox, not the backlash introduced by the
rack and pinion system
Required Torque on Pinion
d⋅F t
T 2= [ N⋅m ]
2000
Required Torque on Pinion, Adjusted for
Service Factor
T 2 KA =T 2⋅K A [ N⋅m ]
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
Appendix: Coefficients of friction
Coefficients of friction for bearings
Anti-friction bearings µL=0,005
Slide bearings µL=0,08 – 0,1
Coefficients of friction for various materials
µ0 (Static Friction Coefficient) µ (Sliding Friction Coefficient)
Material 1 Material 2
Dry Greased Dry Greased
Aluminium Aluminum 1,05 – 1,35 0,3 0,47
Aluminum Steel (Mild) 0,61 0,47
Cast Iron Cast Iron 1,1 0,15 0,07
Copper Steel (Mild) 0,53 0,36 0,18
Glass Glass 0,9 – 1,0 0,1 – 0,6 0,4 0,09 – 0,12
Iron Iron 1,0 0,15 – 0,2
Nickel Nickel 0,7 – 1,1 0,28 0,53 0,12
Nylon Nylon 0,15 – 0,25
Plexiglas Steel 0,4 – 0,5 0,4 – 0,5
Polymer Belt Steel 0,25 – 0,45 0,25
Steel (Hard) Polystyrene 0,3 – 0,35 0,3 – 0,35
Steel (Hard) Polythene 0,2 0,2
Steel (Hard) Steel (Hard) 0,78 0,5 – 0,11 0,42 0,029 –0,12
Teflon Steel 0,04 0,04 0,04
Teflon Teflon 0,04 0,04 0,04
Wood Steel 0,45 – 0,75 0,30 – 0,6
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
