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Couples aux actionneurs
Bilan energetique
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Couple [N.m]
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Energie [J]
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D total
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Temps [s] Temps [s]

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1 Bilan energetique
Moteur 1
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Couple [N.m]
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Energie [J]
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D total
0
0
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Temps [s] Temps [s]

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.8dc9ef]g2 2.AB6R8ANFhI@57;1.4Z/15B6R8,AXFf:<A7ET2"4+698/1;GFH57S98TF8@/0.Oi%49_a.C2?/?jlFCk jmI@57;1.nE<8I\.= :TFH;0/hFk oqpVrts e
I@.&S9;>.C= 2u./3o`v!rweI.S9;>.= 2!./JE<8<.x.= A&.= yRFH/05B698g2?.A7698o`v+Y
e5
e2
e4
v
e3
e1
z 5BSRE<;1.|{JY R}%~ ;GFQ1.4+/06957;1.OY

0.25
Moteur 1 Bilan energetique
0.2 0.000075
Moteur 2 D potentiel
0.15 0.00005 D cinetique
Couple [N.m]
0.1 0.000025 -W
Energie [J]
D total
0.05 0
0 -0.000025
-0.00005
-0.05
-0.000075
-0.1
-0.0001
0 0.005 0.01 0.015 0.02 0.025 0.03 0 0.005 0.01 0.015 0.02 0.025 0.03
7Zq+$l"K+H0 R`Kh T &HZ

Temps [s] Temps [s]
z 57S9E<;0."{JY }\W 8TFH]5NMOE<.(I. AXFV/1;GFQ1.4+/0695B;0.OY

Re
Positions angulaires
0
Theta 1
Position angulaire [rad]

-0.5 Theta 2
Theta 3
-1 Theta 4
Phi 1
-1.5 Phi 2
-2
-2.5
-3
0 0.005 0.01 0.015 0.02 0.025 0.03
Temps [s]
BZ@ZZ
Vitesses angulaires
1
Theta 1
Vitesse angulaire[rad/s]
Theta 2
0.5 Theta 3
Theta 4
Phi 1
0 Phi 2
-0.5
-1
0 0.005 0.01 0.015 0.02 0.025 0.03
Temps [s]
RDZ
Accelerations angulaires
Acceleration angulaire[rad/s^2]
100 Theta 1
Theta 2
50 Theta 3
Theta 4
Phi 1
0 Phi 2
-50
-100
0 0.005 0.01 0.015 0.02 0.025 0.03
Temps [s]
0P? 0 lZ@

z 5BSRE<;1.|{JYc } FH;15XF<A7.2J4+578J.= ]hF/15NMOE<.2$I@.2JFH;0/15X4+E<ANF/157698T2ZY

Graphe de Puissance Moteur 1
5000
4000
Vitesse [rpm]
3000
2000
1000
0
0 0.1 0.2 0.3 0.4 0.5
7ZD++
Couple [N.m]
5000
4000
Vitesse [rpm]
3000
2000
1000
0
0 0.1 0.2 0.3 0.4 0.5
Couple [N.m]
RPZ?H
z 5BS9E>;1.|{JY } E<5X2120FH8T4+.C2WFE F94+/05B698>8<.E<;G2+Y
R

!& n#
"# & ' 0 J
( %
&
*
%# %
38 :>;<.= 2.8@/0.FHET202?5(A7.2V;>.= 2E<AB/GFH/G2[email protected]/0.2?/G2 /0LJ.= 69;05NMOE<.2n2?E<;nE<8<.h/0;KFQ1.4Z/16957;1.4+6R8@/0;KFH57S98TF8@/0.
FUT8 I@. /0.2?/0.;(AB.C2 FR4+/157698<8>.E<;K2"4KL<695X2?5X2W:T69E<;|4+. ] .C= 4FH8<5X2?]^. Y `Ff/0;KFQ1.C4+/16R5B;1. .C2?/"I@5 [.= ;1.8/1.

FE 8<57yO.FHEh6È k A7. no v r eI.S9;>.= 2+Y

e2
e5
e3
e4
e1
z 5BSRE<;1.|{JY }%~ ;GFQ1.4+/06957;1.OY


Bilan energetique
Moteur 1
0.0015
0.02 Moteur 2 D potentiel
0.001 D cinetique
Couple [N.m]
-W
Energie [J]
0 0.0005
D total
-0.02 -0.0005
-0.001
-0.04
-0.0015
0 0.02 0.04 0.06 0.08 0.1 0.12 0 0.02 0.04 0.06 0.08 0.1 0.12
7Zq+$l"K+H0
Temps [s] Temps [s]

! #"
$&%('*),+.-0/21
3547698;:=<?>@%BAC),-ED;-FG<HI+J<LKI-NMOH.P*%Q+.-C1
RLST
Positions angulaires
Theta 1
Position angulaire [rad]

1
Theta 2
Theta 3
0 Theta 4
Phi 1
Phi 2
-1
-2
-3
0 0.02 0.04 0.06 0.08 0.1 0.12
Temps [s]
BZ@ZZ
Vitesses angulaires
20 Theta 1
Vitesse angulaire[rad/s]
Theta 2
Theta 3
10
Theta 4
Phi 1
0 Phi 2
-10
-20
0 0.02 0.04 0.06 0.08 0.1 0.12

Temps [s]
RDZ
Accelerations angulaires
Acceleration angulaire[rad/s^2]
Theta 1
400 Theta 2
Theta 3
200 Theta 4
Phi 1
0 Phi 2
-200
-400
0 0.02 0.04 0.06 0.08 0.1 0.12

Temps [s]
0P? 0 lZ@

z 5BSRE<;1.|{JY } FH;15XF<A7.2J4+578J.= ]hF/15NMOE<.2$I@.2JFH;0/15X4+E<ANF/157698T2ZY

5000
4000
Vitesse [rpm]
3000
2000
1000
0
0 0.1 0.2 0.3 0.4 0.5
7ZD++
Couple [N.m]
5000
4000
Vitesse [rpm]
3000
2000
1000
0
0 0.1 0.2 0.3 0.4 0.5
Couple [N.m]
RPZ?H
z 5BS9E>;1.|{JY } E<5X2120FH8T4+.C2WFE F94+/05B698>8<.E<;G2+Y

IPM Kin Orthoglide French

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