Formulae and Calculations

ACE shock absorbers provide linear deceleration and are therefore superior to other kinds of damping element. It is easy to calculate around 90 % of applications knowing only the following 5 parameters: Key to symbols used W1 Kinetic energy per cycle W2 Propelling force energy per cycle W3 Total energy per cycle (W1 + W2) 1W 4 Total energy per hour (W3 c) me Effective weight m Mass to be decelerated n Number of shock absorbers (in parallel) 2v Velocity at impact 2v Impact velocity at shock absorber D Angular velocity at impact F Propelling force c Cycles per hour P Motor power
1 2

1. 2. 3. 4. 5.
3 ST

Mass to be decelerated (weight) Impact velocity at shock absorber Propelling force Cycles per hour Number of absorbers in parallel Stall torque factor (normally 2.5) Propelling torque Moment of Inertia Acceleration due to gravity = 9.81 Drop height excl. shock absorber stroke Shock absorber stroke Radius Reaction force Coefcient of friction Deceleration time Deceleration Side load angle Angle of incline

m vD F c n

(kg) (m/s) (N) (/hr) 1 to 3 Nm kgm2 m/s2 m m m N s m/s2

Nm Nm Nm Nm/hr kg kg m/s m/s rad/s N 1/hr kW

M I g h s L/R/r Q t a
3

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All mentioned values of W4 in the capacity charts are only valid for room temperature. There are reduced values at higher temperature ranges. v or vD is the nal impact velocity of the mass. With accelerating motion the nal impact velocity can be 1.5 to 2 times higher than the average. Please take this into account when calculating kinetic energy.

^ ST = relation between starting torque and running torque of the motor (depending on the design) In all the following examples the choice of shock absorbers made from the capacity chart is based upon the values of (W3), (W4), (me) and the desired shock absorber stroke (s).

1 Mass without propelling force

Formulae
W1 = m v2 0.5 W2 = 0 W3 = W1 + W 2 W4 = W3 c vD = v me = m

Example
m v c s = 100 = 1.5 = 500 = 0.050 kg m/s /hr m (chosen)

W1 W2 W3 W4 me

= 100 1.52 0.5 =0 = 113 + 0 = 113 500 =m

= = = =

113 Nm 113 Nm 56 500 Nm/hr 100 kg

Chosen from capacity chart: Model MC3350M-2 self-compensating

2 Mass with propelling force

Formulae
= m 0.5 =Fs = W1 + W 2 = W3 c =v 2 W3 me = vD2 W2 = (F m g) s W2 = (F + m g) s W1 W2 W3 W4 vD v2

Example
m 1v F c s = 36 = 1.5 = 400 = 1000 = 0.025 kg m/s N /hr m (chosen)

W1 W2 W3 W4 me

= 36 1.52 0.5 = 400 0.025 = 41 + 10 = 51 1000 = 2 51 : 1.52

= = = = =

41 10 51 51000 45

Nm Nm Nm Nm/hr kg

Chosen from capacity chart: Model MC600M self-compensating

v is the nal impact velocity of the mass: With pneumatically propelled systems this can be 1.5 to 2 times the average velocity. Please take this into account when calculating energy.
1

2.1 for vertical motion upwards 2.2 for vertical motion downwards

3 Mass with motor drive

Formulae
W1 = m 0.5 W2 = 1000 P ST s v W3 = W1 + W 2 W4 = W3 c vD = v me = 2 W3 vD2 v2

Example
m v ST P c s = 800 = 1.2 = 2.5 =4 = 100 = 0.100 kg m/s kW /hr m (chosen)

W1 W2 W3 W4 me

= 800 1.22 0.5 = 1000 4 2.5 0.1 : 1.2 = 576 + 834 = 1410 100 = 2 1410 : 1.22

= 576 Nm = 834 Nm = 1 410 Nm = 141000 Nm/hr = 1 958 kg

Chosen from capacity chart: Model MC64100M-2 self-compensating

Note: Do not forget to include the rotational energy of motor, coupling and gearbox into calculation for W1.

Issue 6.2011 Specications subject to change

4 Mass on driven rollers

Formulae
W1 W2 W3 W4 vD = m v2 0.5 =m gs = W1 + W 2 = W3 c =v me = 2 W3 vD2

Example
m = 250 v = 1.5 c = 180 (Steel/Steel) s = 0.050 kg m/s /hr = 0.2 m (chosen)

W1 W2 W3 W4 me

= 250 1.52 0.5 = 250 0.2 9.81 0.05 = 281 + 25 = 306 180 = 2 306 : 1.52

= = = = =

281 25 306 55 080 272

Nm Nm Nm Nm/hr kg

Chosen from capacity chart: Model MC4550M-2 self-compensating

5 Swinging mass with propelling force

Formulae
W1 = m v2 0.5 = 0.5 I 2 Ms W2 = R W3 = W1 + W 2 W4 = W3 c vR =R vD = L me = 2 W3 vD2

Example
m v M R L c s = 20 =1 = 50 = 0.5 = 0.8 = 1500 = 0.012 kg m/s Nm m m /hr m (chosen)

W1 W2 W3 W4 vD me

= 20 12 0.5 = 50 0.012 : 0.5 = 10 + 1.2 = 306 180 = 1 0.5 : 0.8 = 2 11.2 : 0.632

= 10 Nm = 1.2 Nm = 11.2 Nm = 16800 Nm/hr = 0.63 m/s = 56 kg

Chosen from capacity chart: Model MC150MH self-compensating

Check the side load angle, tan = s/R, with regard to Max.Side Load Angle in the capacity chart (see example 6.2)

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Formulae and Calculations

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6 Free falling mass

Formulae
W1 W2 W3 W4 vD =mgh =mgs = W1 + W 2 = W3 c = 2 g h 2 W3 me = vD2

Example
m h c s = 30 = 0.5 = 400 = 0.050 kg m /hr m (chosen)

W1 W2 W3 W4 vD

= 30 0.5 9.81 = 30 9.81 0.05 = 147 + 15 = 162 400 = 2 9.81 0.5 me = 2 162 3.132

= 147 = 15 = 162 = 64800 = 3.13 = 33

Nm Nm Nm Nm/hr m/s kg

Chosen from capacity chart: Model MC3350M-1 self-compensating

6.1 Mass rolling/sliding down incline

Formulae
W1 W2 W3 W4 vD = m g h = m vD2 0.5 = m g sin s = W1 + W 2 = W3 c = 2 g h me = 2 W3 vD2

6.2 Mass free falling about a pivot point

Calculation as per example 6.1 except W2 = 0 W1 = m g h vD = 2 g h R L

Side load angle from shock absorber axis s R

tan =

6.1a propelling force up incline 6.1b propelling force down incline

W2 = (F m g sin) s W2 = (F + m g sin) s

Check the side load angle, tan = s/R, with regard to Max. Side Load Angle in the capacity chart

7 Rotary index table with propelling torque

Formulae
W1 = m v2 0.25 = 0.5 I 2 W2 = M s R W3 = W1 + W2 W4 = W3 c vD = v R = R L me = 2 W3 vD2

Example
m v M s L R c = 1000 = 1.1 = 1000 = 0.050 = 1.25 = 0.8 = 100 kg m/s Nm m (chosen) m m /hr

W1 W2 W3 W4 vD me

= 1000 1.12 0.25 = 300 0.025 : 0.8 = 28 + 9 = 37 1200 = 1.1 0.8 : 1.25 = 2 366 : 0.72

= 303 = 63 = 366 = 36 600 = 0.7 = 1494

Nm Nm Nm Nm/hr m/s kg

Chosen from capacity chart: Model MC4550M-3 self-compensating

Check the side load angle, tan = s/R, with regard to Max.Side Load Angle in the capacity chart (see example 6.2)

8 Swinging arm with propelling torque (uniform weight distribution)

Formulae
W1 = m v2 0.17 = 0.5 I 2 Ms W2 = R W3 = W1 + W2 W4 = W3 c vD = v R = R L me = 2 W3 vD2

Example
I = 56 kgm2 =1 rad/s M = 300 Nm s = 0.025 m (chosen) L = 1.5 m R = 0.8 m c = 1200 /hr

W1 W2 W3 W4 vD me

= 0.5 56 12 = 300 0.025 : 0.8 = 28 + 9 = 37 1200 = 1 0.8 = 2 37 : 0.82

= 28 = 9 = 37 = 44400 = 0.8 = 116

Nm Nm Nm Nm/hr m/s kg

Chosen from capacity chart: Model MC600M self-compensating

Check the side load angle, tan = s/R, with regard to Max.Side Load Angle in the capacity chart (see example 6.2)

9 Swinging arm with propelling Formulae Example force (uniform weight distri- W1 = m v2 0.17 = 0.5 I 2 m = 1000 kg v =2 m/s bution) W2 = F r s = M s
R R W3 = W1 + W2 W4 = W3 c vD = v R = R L me = 2 W3 vD2 F M s r R L c = 7000 = 4200 = 0.050 = 0.6 = 0.8 = 1.2 = 900

10 Mass lowered at controlled speed

Formulae
W1 = m 0.5 W2 = m g s W3 = W1 + W2 W4 = W3 c vD = v me = 2 W3 vD2 v2

Example
m v s c = 6000 = 1.5 = 0.305 = 60 kg m/s m (chosen) /hr

W1 W2 W3 W4 me

= 6000 1.52 0.5 = 6000 9.81 0.305 = 6750 + 17 952 = 24702 60 = 2 24702 : 1.52

= 6750 = 17952 = 24702 = 1482 120 = 21957

Nm Nm Nm Nm/hr kg

Chosen from capacity chart: Model CA3x12-2 self-compensating

Reaction force Q [N]

Q = 1.5 W3 s

Stopping time t [s]

t = 2.6 s vD

Deceleration rate a [m/s2] a = 0.75 vD2 s

Approximate values assuming correct adjustment. Add safety margin if necessary. (Exact values will depend upon actual application data and can be provided on request.)

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Issue 6.2011 Specications subject to change

N Nm m (chosen) m m m /hr

W1 W2 W3 W4 vD me

= 1000 22 0.17 = 7000 0.6 0.05 : 0.8 = 680 + 263 = 943 900 = 2 0.8 : 1.2 = 2 943 : 1.332

= 680 = 263 = 943 = 848 700 = 1.33 = 1 066

Nm Nm Nm Nm/hr m/s kg

Chosen from capacity chart: Model CA2x2-1 self-compensating

Formulae and Calculations

19 Wagon against 2 shock absorbers

Formulae
W1 W2 W3 W4 vD = m 0.25 =Fs = W1 + W 2 = W3 c = v 0,5 2W me = 2 3 vD v2

Example
m v c F s = 5000 =2 = 10 = 3500 = 0.150 kg m/s /hr N m (chosen)

W1 W2 W3 W4 vD me

= 5000 22 0.25 = 3500 0.150 = 5000 + 525 = 5525 10 = 2 0.5 = 2 5525 : 12

= 5000 = 525 = 5525 = 55 250 = 1 = 11 050

Nm Nm Nm Nm/hr m/s kg

Chosen from capacity chart: Model CA2x6-2 self-compensating

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Nm Nm Nm Nm/hr m/s kg

20 Wagon against wagon

Formulae
W1 = m1 m2 (v1+v2)2 0.5 (m1+m2) W2 = F s W3 = W1 + W 2 W4 = W3 c vD = v1 + v2 me = 2 W3 vD2

Example
m v1 c m2 v2 F s = 7000 = 1.2 = 20 = 10000 = 0.5 = 5000 = 0.127 kg m/s /hr kg m/s N m (chosen)

W1 = 7000 10000 1.72 0.5 (7000+10000) W2 = 5000 0.127 W3 = 5950 + 635 W4 = 6585 20 vD = 1.2 + 0.5 me = 2 6585 : 1.72

5950

= 635 = 6585 = 131700 = 1.7 = 4 557

Chosen from capacity chart: Model CA3x5-1 self-compensating

21 Wagon against wagon 2 shock absorbers

Formulae
m m W1 = 1 2 (v1+v2)2 0.25 (m1+m2) W2 = F s W3 = W1 + W 2 W4 = W3 c v +v vD = 1 2 2 me = 2 W3 vD2

Example
m v1 c m2 v2 F s = 7000 = 1.2 = 20 = 10000 = 0.5 = 5000 = 0.102 kg m/s /hr kg m/s N m (chosen)

W1 = W2 W3 W4 vD me

7000 10000 1.72 0.25 = 2 975 Nm (7000+10000) = 5000 0.102 = 510 Nm = 2975 + 510 = 3 485 Nm = 3485 20 = 69700 Nm/hr = (1.2 + 0.5) : 2 = 0.85 m/s = 2 3485 : 0.852 = 9647 kg

Chosen from capacity chart: Model CA2x4-2 self-compensating

Note: When using several shock absorbers in parallel, the values (W3), (W4) and (me) are divided according to the number of units used.

Effective Weight (me) A Mass without propelling force Example

Formula me = m m = 100 kg vD = v = 2 m/s W1 = W3 = 200 Nm 2 200 me = = 100 kg 4

B Mass with propelling force

Formula me = 2 W3 v D2

Example
m = 100 kg F = 2000 N vD = v = 2 m/s s = 0.1 m W1 = 200 Nm W2 = 200 Nm W3 = 400 Nm me = 2 400 = 200 kg 4

Issue 6.2011 Specications subject to change

C Mass without propelling force Example direct against shock absorber m = 20 kg

Formula me = m vD = v = 2 m/s s = 0.1 m W1 = W3 = 40 Nm me = 2 40 = 20 kg 22

D Mass without propelling force with mechanical advantage

Example
m v vD s W1 = 20 kg = 2 m/s = 0.5 m/s = 0.1 m = W3 = 40 Nm 2 40 me = = 320 kg 0.52

Formula me = 2 W3 v D2

The effective weight (me) can either be the same as the actual weight (examples A and C), or it can be an imaginary weight representing a combination of the propelling force or lever action plus the actual weight (examples B and D).
Automation Control Equipment Pvt. Ltd Kaydon House Chennai - 600056 Tel. +91(0)-44-24768484 Fax +91(0)-44-24766811/911 E-Mail: info@acecontrols.in

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