What is a “Lift” FIRST Robotics Resource Center什么是“电梯”第一机器人资源中心.pptVIP

Mechanisms Manipulators FRC Conference 4/21/05 By Raul Olivera Some Basic Physics Forces, Angles Torque Power Forces, Angles Torque Example #1 - Lifting Same force, different angle, less torque Forces, Angles Torque Example #2 - Pulling on object One angle helps secure object The other does not Power Power = Force x Distance / Time OR Power = Torque x Rotational Velocity Power is all about how fast you can move something Power Example - Lifting Same torque, different speed Power In Summary: All motors can lift the same amount (assuming 100% power transfer efficiencies) - they just do it at different rates BUT, no power transfer mechanisms are 100% efficient If you do not account for these inefficiencies, your performance will not be what you expected Structural Integrity Materials Shapes / Weights Fabrication processes Environment Materials Steel High strength Many types (alloys) available Heavy, rusts, Harder to processes with hand tools Aluminum Easy to work with for hand fabrication processes Light weight; many shapes available Essentially does not rust Lower strength Materials Lexan Very tough impact strength But, lower tensile strength than aluminum Best material to use when you need transparency Comes in very limited forms/shapes PVC Very easy to work with and assemble prefab shapes Never rusts, very flexible, bounces back (when new) Strength is relatively low My Favorite Materials Spectra Cable Stronger than steel for the same diameter Very slippery Easy to route Needs special knots to tie Can only get it from Small Parts and select other suppliers Pop Rivets Lighter than screws but slightly weaker - just use more Steel and Aluminum available Great for blind assemblies and quick repairs Structural Shapes Take a look at these two extrusions - both made from same Aluminum alloy: Which one is stronger? Which one weighs more? Structural Shapes The solid bar is 78% stronger in tension The solid bar weighs 78% more But, the hollow bar is 44%