Screwforce.

xls To determine lifting force from a screw By Alex Slocum 3/8/01, last modified 2/12/04 by Alex Slocum Enter numbers in BOLD, results in RED Be consistant with units! (in, lb or N, m or N, mm) Applied torque (input) 50 Turning speed (rpm) 100 Dthrustbearing 12 Dpitch 5 Lead 1.25 alpha, cos(alpha) 30 0.8660254 Coefficients of friction muthrustbearing 0.2 muthreads 0.2 beta 0.25 To RAISE a load screwthread efficiency, etaraise 25.16% Without thrust bearing Force (output) 63.2 With thrust bearing Force (output) 25.1 Linear speed (mm/sec) 2.08 To LOWER a load screwthread efficiency, etalower 54% Without thrust bearing Force (output) 134.6 With thrust bearing Force (output) 31.8

Diameter of thrust bearing Pitch diameter Distance traveled in one turn A typical bolt screwthread has alpha = 30 degrees

required

F desired D Bolt _ head _ or _ thrust _ bearing F desired 2 2

thrust _ bearing

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54

A B C D E Kinematic_Coupling_3Groove_Design.xls To design three groove kinematic couplings Written by Alex Slocum. Last modified 10/27/2004 by Alex Slocum Metric units only! Enters numbers in BOLD, Results in RED Standard 120 degree equal size groove coupling? (contact forces are inclined at 45 to the XY plane. For non standard designs, enter geometry after results section) TRUE System geometry (XY plane is assumed to contain the ball centers) Dbeq (mm) = 15 Equivalent diameter ball to contact the groove at the same points Rbminor (mm) = 5 "Ball" minor radius Rbmajor (mm) = 500 "Ball" major radius Rgroove (mm) = 1.00E+06 Groove radius (negative for a trough) Costheta = TRUE Is ball major radius along groove axis? Dcoupling (mm) = 250 Coupling diameter Fpreload (N) = -100 Preload force over each ball Xerr (mm) = 0.0 X location of error reporting Yerr (mm) = 0.0 Y location of error reporting Zerr (mm) = 0.0 Z location of error reporting Auto select material values (enter other_4 to the right)

Appendix F A

Material properties User defined material aluminum Yield stress plastic 3.45E+07 RC 62 Steel 1.72E+09 CARBIDE 2.76E+09 user defined 2.76E+08 Elastic modulus plastic 2.07E+09 RC 62 Steel 2.04E+11 CARBIDE 3.10E+11 user defined 6.80E+10 Poisson ratio plastic 0.20 RC 62 Steel 0.29 0.30 0.29

Matlabball = 4 Enter 1 for plastic, 2 for steel, 3 for carbide, 4 for user defined, 5 CARBIDE Matlabgroove = 4 where each ball and groove is defined individually user defined Min. yield strength (Pa, psi) 2.76E+08 40,000 Largest contact ellipse major diameter (mm) 2.964 Largest contact ellipse major diameter (mm) 0.162 Largest contact stress ratio 0.666 Max Hertz shear stress/Material's max shear stress (tensile yield/2) RMS applied force F (N) 17.32 RMS deflection at F (micron) 0.095 RMS stiffness (N/micron) 182.88 Applied force's Z,Y,Z values and coordinates Coupling centroid location FLx (N) = 10.00 XL (mm) = 0 xc (mm) 0.000 FLy (N) = 10.00 YL (mm) = 0 yc (mm) 0.000 FLz (N) = 10.00 ZL (mm) = 100 zc (mm) 0.000 Results: Hertz stresses and deformations Error displacements at the point of interest (micron) DeltaX -5.34E-08 DeltaY -5.44E-08 DeltaZ Groove normal forces (N) Fbnone Fbntwo Ball-Groove 2 Groove normal forces (N) Fbnthree Fbnfour Ball-Groove 3 Groove normal forces (N) Fbnfive Fbnsix Contact stress (Pa) 7.68E+01 sigone 6.74E+01 sigtwo Contact stress (Pa) 6.49E+01 sigthree 6.15E+01 sigfour Contact stress (Pa) 6.33E+01 sigfive 7.62E+01 sigsix
Max shear stress/(ult. tensile/2)

XL (m) = YL (m) = ZL (m) =

3.06E+08 2.93E+08

Deflection (+into ball) (m) 0.666 delone 0.637 deltwo Deflection (m) 0.630 delthree 0.618 delfour Deflection (m) 0.624 delfive 0.664 delsix

1.54E-07 -8.47E-08

2.90E+08 2.84E+08

-1.49E-07 -2.40E-07

2.87E+08 3.05E+08

-1.92E-07 1.37E-07

-5.61E-08 Contact ellipse Rmajor (m) 1.48E-03 1.42E-03 Contact ellipse Rmajor (m) 1.40E-03 1.38E-03 Contact ellipse Rmajor (m) 1.39E-03 1.48E-03

Results: Error motions Error motions are at X,Y,Z coordinates: deltaX (m) -5.34E-08 deltaY (m) -5.44E-08 deltaZ (m) -5.61E-08 EpsX (radian) 5.50E-07 EpsY (radian) -5.47E-07

0.000 0.000 RMS delta (m) 9.47E-08 Homogenous Transformation Matrix: 1.00E+00 -1.12E-10 1.12E-10 1.00E+00 5.47E-07 5.50E-07

0.000

-5.47E-07 -5.50E-07 1.00E+00

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-5.34E-08 -5.44E-08 -5.61E-08

55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109

A B C D E Appendix F A EpsZ (radian) 1.12E-10 0.00E+00 0.00E+00 0.00E+00 Generic data entry for non-120 degree couplings NOTE! For calculation of angular errors, the coupling is assumed to lie in the XY plane. Ball 1 must lie in quadrants 1 0r 2, and Balls 2 & 3 must lie in quadrants 3 and 4 Enter X,Y,Z coordinates and alpha, beta, gamma direction cosines for Ball 1 Dball (m) 0.0150 Dcoupling (m) 0.250 Contact point 1 Contact point 2 Xba = 0.005303 Xbb = -0.005303 Yba = 0.125000 Ybb = 0.125000 Zba = -0.005303 Zbb = -0.005303 Aba = -0.707107 Abb = 0.707107 Bba = 0.000000 Bbb = 0.000000 User values if matlabs = Gba = 0.707107 Gbb = 0.707107 Enter characteristics for groove 1 and ball 1 5 Egone = 6.80E+10 Groove material elastic modulus, or enter value (mm): vgone = 0.29000 Groove material Poisson ratio, or enter value (mm): Rgone = 1000 Groove radius of curvature Ebone = 6.80E+10 Ball material elastic modulus, or enter value (Pa): vbone = 0.29 Ball material Poisson ratio, or enter value (Pa): Eeone = 3.71E+10 Equivelent modulus Dbone = 1.50E-02 Equivelent diameter ball that would contact the groove at the same points Rpone = 0.5 "Ball" major radius of curvature, or enter value (mm): Raone = 0.005 "Ball" minor radius of curvture, or enter value (mm): Reone = 0.004950471 Equivelent radius ctone = 0.980198118 Cos(theta) theta_1 = 0.19933681 alpha_1 = 5.959934734 beta_1 = 0.325084666 lambda_1 = 0.342741271 Sone = 2.76E+08 Allowable Hertz stress, or enter value: Enter X,Y,Z coordinates and alpha, beta, gamma direction cosines for Ball 2 Contact point 3 Contact point 4 Xbc = -0.110905 Xbd = -0.105602 Ybc = -0.057907 Ybd = -0.067093 Zbc = -0.005303 Zbd = -0.005303 Abc = 0.353553 Abd = -0.353553 Bbc = -0.612372 Bbd = 0.612372 User values if matlabs = Gbc = 0.707107 Gbd = 0.707107 Enter characteristics for groove 2 and pin 2 5 Egtwo = 6.80E+10 Groove material elastic modulus, or enter value (mm): vgtwo = 0.29000 Groove material Poisson ratio, or enter value (mm): Rgtwo = 1000 Groove radius of curvature Ebtwo = 6.80E+10 Ball material elastic modulus, or enter value (Pa): vbtwo = 0.29 Ball material Poisson ratio, or enter value (Pa): Eetwo = 3.71E+10 Equivelent modulus Dbtwo = 1.50E-02 Equivelent diameter ball that would contact the groove at the same points Rptwo = 0.5 "Ball" major radius of curvature, or enter value (mm): Ratwo = 0.005 "Ball" minor radius of curvture, or enter value (mm): Retwo = 0.004950471 Equivelent radius cttwo = 0.980198118 Cos(theta) theta_2 = 0.19933681 alpha_2 = 5.959934734 beta_2 = 0.325084666 lambda_2 = 0.342741271
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G 1.00E+00

110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164

A B C Stwo = 2.76E+08 Allowable Hertz stress Enter X,Y,Z coordinates and alpha, beta, gamma direction cosines for Ball 3 Contact point 5 Xbe = 0.105602 Xbf = Ybe = -0.067093 Ybf = Zbe = -0.005303 Zbf = Abe = 0.353553 Abf = Bbe = 0.612372 Bbf = Gbe = 0.707107 Gbf =

Appendix F A

User values if matlabs = Enter characteristics for groove 3 and ball 3 5 Egthree = 6.80E+10 Groove material elastic modulus, or enter value (mm): vgthree = 0.29000 Groove material Poisson ratio, or enter value (mm): Rgthree = 1000 Groove radius of curvature Ebthree = 6.80E+10 Ball material elastic modulus, or enter value (Pa): vbthree = 0.29 Ball material Poisson ratio, or enter value (Pa): Eethree = 3.71E+10 Equivelent modulus Dbthree = 1.50E-02 Equivelent diameter ball that would contact the groove at the same points Rpthree = 0.5 "Ball" major radius of curvature, or enter value (mm): Rathree = 0.005 "Ball" minor radius of curvture, or enter value (mm): Rethree = 0.004950471 Equivelent radius ctthree = 0.980198118 Cos(theta) theta_3 = 0.19933681 alpha_3 = 5.959934734 beta_3 = 0.325084666 lambda_3 = 0.342741271 Sthree = 2.76E+08 Allowable Hertz stress Preload forces' X,Y,Z components and coordinates Fpxone = 0 Fpxtwo = 0 Fpxthree = 0 Fpyone = 0 Fpytwo = 0 Fpythree = 0 Fpzone = -100 Fpztwo = -100 Fpzthree = -100 Xpone = 0 Xptwo = -0.108253175 Xpthree = 0.108253175 Ypone = 0.125 Yptwo = -0.0625 Ypthree = -0.0625 Zpone = 0.03 Zptwo = 0.03 Zpthree = 0.03 Calculations: Build Force Moment equilibrium matrices: AF = B (Equations 1-6) Matrix A Fbn1 Fbn2 Fbn3 Fbn4 Fbn5 Fbn6 -7.07E-01 7.07E-01 3.54E-01 -3.54E-01 3.54E-01 -3.54E-01 0.00E+00 0.00E+00 -6.12E-01 6.12E-01 6.12E-01 -6.12E-01 7.07E-01 7.07E-01 7.07E-01 7.07E-01 7.07E-01 7.07E-01 8.84E-02 8.84E-02 -4.42E-02 -4.42E-02 -4.42E-02 -4.42E-02 0.00E+00 0.00E+00 7.65E-02 7.65E-02 -7.65E-02 -7.65E-02 8.84E-02 -8.84E-02 8.84E-02 -8.84E-02 8.84E-02 -8.84E-02 Res. Forces with applied loads Res forces with preload only fbnone 76.84 fone 70.71 fbntwo 67.41 ftwo 70.71 fbnthree 64.93 fthree 70.71 fbnfour 61.48 ffour 70.71 fbnfive 63.29 ffive 70.71 fbnsix 76.17 fsix 70.71 Original ball corrdinates xboneO 0.0000000 xbtwoO -0.1082532 xbthreeO 0.1082532 yboneO 0.1250000 ybtwoO -0.0625000 ybthreeO -0.0625000 zboneO 0.0000000 zbtwoO 0.0000000 zbthreeO 0.0000000 New ball coordinates (=original + ball deflection*direction cosines)
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Contact point 6 0.110905 -0.057907 -0.005303 -0.353553 -0.612372 0.707107

Matrix F Fbn1 Fbn2 Fbn3 Fbn4 Fbn5 Fbn6

B with loads -1.00E+01 -1.00E+01 2.90E+02 1.00E+00 -1.00E+00 0.00E+00

165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219

A B xboneN -0.00000008432 yboneN 0.1250000 zboneN 0.0000000 Ball centers' deflections dxone -8.43E-08 dyone 0.00E+00 dzone 2.45E-08 Theory applicability check: Initiial dist. between balls LotI ############# LttI ############# LtoI ############# Change in length/distance between balls 1.20E-07 3.44E-07 4.64E-07

C xbtwoN ybtwoN zbtwoN dxtwo dytwo dztwo Final dist. between balls LotN LttN LtoN

D E -0.1082532 xbthreeN -0.0625000 ybthreeN -0.0000001 zbthreeN ############ dxthree ############ dythree ############ dzthree Difference 0.2165063249 DLotI 0.2165062766 DLttI 0.2165064514 DLtoI Deflection/ball radius 2.05E-05 3.21E-05 2.56E-05

Appendix F A 0.1082531 -0.0625001 0.0000000 -5.82581249E-08 -1.00906032E-07 -1.94155344E-08

2.60E-08 7.44E-08 -1.00E-07 Ratio (should be >5) 1.71E+02 9.33E+01 5.53E+01

Coupling centroid is assumed to be at intersection of coupling triangle's angle bisectors Initial centroid Distance from ball to centroid Error motion at centroid from weighted ball motions xci 0.000000000 Dcone 0.125000000 dxc -5.34E-08 yci 0.000000000 Dctwo 0.125000000 dyc -5.44E-08 zci 0.000000000 Dcthree 0.125000000 dzc -5.61E-08 Original angles between balls Original altitude lengths Angone ############# angle at ball 1 Aone 0.1875 Ball 1 to side 2 3 Angtwo ############# angle at ball 2 Atwo 0.1875 Ball 2 to side 1 3 Angthree ############# angle at ball 3 Athree 0.1875 Ball 3 to side 2 1 New angles between balls Original sides' angle with X axis AngoneN 60.0000 angle at ball 1 Aot 60 Side opposite ball 3 AngtwoN 60.0000 angle at ball 2 Att 0 Side opposite ball 1 AngthreeN 60.0000 angle at ball 3 Ato 120 Side opposite ball 2 New sides' angle with X axis AotN 60.00002671 Side opposite ball 3 0 AttN -1.93142E-05 Side opposite ball 1 0 AtoN 119.9999926 Side opposite ball 2 Original altitudes' slope angles and Y intercepts AmtwoO 30 AbtwoO 0 AmthreeO 150 AbthreeO 0 Rotation about opposite side (radians) Ttt 1.30E-07 rotation about side 23 due to Z motion at ball 1 Tto -7.35E-07 rotation about side 13 due to Z motion at ball 2 Tot -1.04E-07 rotation about side 12 due to Z motion at ball 3 Coupling error rotations EpsX 5.50E-07 EpsZ1 6.75E-07 Z rot from ball 1 EpsY -5.47E-07 EpsZ2 2.58E-07 Z rot from ball 2 EpsZ 1.12E-10 EpsZ3 -9.32E-07 Z rot from ball 3 Coupling HTM Point of interest 1.00E+00 -1.12E-10 -5.47E-07 -5.34E-08 Xerr 0 1.12E-10 1.00E+00 -5.50E-07 -5.44E-08 Yerr 0 5.47E-07 5.50E-07 1.00E+00 -5.61E-08 Zerr 0 0.00E+00 0.00E+00 0.00E+00 1.00E+00 1 1 Error displacements at the point of interest DeltaX -5.34E-08 DeltaY -5.44E-08 DeltaZ -5.61E-08 0
Page 6