The Calculation of the Motor

The aim of this calculation is to evaluate the Power requirements of a motor to push a seat forward
with a total mass of 200kg (Includes 10.3kg mass of the seat).
The various parameters which will affect the calculation are listed below:

Input parameters

Values [Units]

Mass, m

200 [kg]

Friction Coefficient,

1.35 [-]

Normal Reaction, N

1962 [N]

Friction force, Ff

2648.7 [N]

Torque, T

39.7305 [Nm]

Radius of Motor shaft, r

15 [mm]

Resistive Factor, Rf

2 [-]

Power, P

[W]

Acceleration, a

0.02[m/s2]

Acceleration due to Gravity, g

[m/s2]

Rotational Velocity, vc

[rpm]

Motor Efficiency, m

[-]

Losses due to motor efficiency and mechanical

0.6

Lead, f

10 [mm]

We start by calculating the normal Reaction of the whole system, denoted as N in the figure.
Normal Reaction Force, :

Using this reaction force, we calculated the Force of Friction, with the friction coefficient of
1.35.(Reference: http://www.engineersedge.com/coeffients_of_friction.htm )
Friction force

We then find the force due to acceleration. This is the force which is needed to move the mass with
a particular acceleration.
Force due to acceleration, :

The total force is calculated to find the required power. Here, we add the force of friction and the
force due to acceleration.
Total Force, FT

This calculation stands for the power required to move the seat from one position to another, which
means that this power will help us in selection our motor.
Power required, Pr:

The power of the motor is affected by the general efficiency og the motor, which is about 70-75%
and on top of this, there are also mechanical losses.
Power of the Motor, Pmotor :

***************************************************************************************************

Calculation for the Screw Thread

The threaded shaft should be strong enough to bear the force and bending due to the weight of the
passenger and the dynamic jerks while braking. Therefore, it is necessary to do a calculation to
support the selection of the technical specification.
We assumed the case of lifting, because it is the one which takes more loading, so if the screw can
take the lifting force, then it will definitely be able to take the lowering force.
Lifting Force, Fcirc :

Due to this force, there will be a resulting torque due to the desired rotating motion. Thus the
calculation of the torque will be as follows,
Torque at Screw, Ts:

Reference:
http://www.thomsonlinear.com/downloads/articles/Selecting_Sizing_Ball_Screw_Drives_taen.pdf

We also need to keep in mind the bending of the Aluminum rods, so we look at the yield strength
and the tensile strength of the rods we are using.

Aluminium Rail Technical data :

Profile-8 of ITEM24:
Profile properties (Al Mg Si 0.5 F 25) :
Tensile Strength
Yield Strength

Reference:
http://www.engineeringtoolbox.com/friction-coefficients-d_778.html
https://www.recaro-automotive.com/produktbereiche/motorsport/produkte/recaro-poleposition-ng-fia.html

Sliders for the seat:

Compressive stress
Bending moment

[
[

Number of sliders

]
]
=4

Required length of slider (y) >=

Reference:
http://www.engineeringtoolbox.com/friction-coefficientsd_778.html
https://www.recaro-automotive.com/produktbereiche/motorsport/produkte/recaro-poleposition-ng-fia.html

Preliminary datasheet.
MST43x NEMA43 Stepper Motor up to 25Nm

JVL is one of the world leading companies in the field of integrated servo and stepper motors. JVL have
developed and released a new integrated stepper motor MIS43 and the stepper motor used for this
motor can now also be delivered without build in electronics as a high torque stepper motor called
MST430 - MST432 up to 21Nm.
The motor is very useful in applications where motors must be very compact, have very high torque at
low speed and without backlash as a normal gear would offer.

Shortest length in the industry only 99 for 10 Nm

Can be delivered with wire out or optional high current connectors
Optional IP 55 or IP67
Option for double shaft and single or absolute multiturn encoder
5,5Am or 9 Amp windings.
Can be delivered with build on controller.

Flange size is 110x110 mm which corresponds to the NEMA43 standard and shaft diameter is 19.0 mm
with key. Planetary gears that fit the motor directly can also be delivered.
It will also be possible to deliver the motor with build on driver and controller called integrated stepper
motor. The integrated stepper motor can be delivered with 9Amp driver and PLC on board, RS485 and
optional Profinet EtherCAT , Powerlink and wireless Bluetooth, ZigBee, WLAN, absolute multiturn
encoder build into the motor.
JVL can also deliver driver and controller for MST43x like SMD41 steppermotor driver og SMC85
stepper motor controller. Read more at www.jvl.dk

Technical data

Holding Torque
Rotor moment
of Inertia
Weight

MST430C213X1AA9.0
10
5,5

MST431C213X1AA9.0
21
10,9

MST432C213X1AA9.0
25
16,2

Nm
Kgcm2

5,0

8,4

11,7

Kg

Current
Length (+-2mm)
Detent torque
Resistance
Inductance
Max Radial
force Fr with
axial force 80N
Shaft Play
Step angle
Temperature
Humidity
Insulation

9,0
99
0,35

9,0
150
0,63

9,0
210
0,75
0,53
10

Amp
mm
Nm +-10%
Ohm +-10%
mH +-20%

At 5mm max 640N, At 10mm max 425 N ,

At 15mm max 320N, At 20mm max 240N
Axial shaft play 0,075mm at load max 10N. Radial shaft play 0,025mm at
load max 5N
1,8 degree +-5% (Non-Accumulating)
Ambient 0-40 degree or internal temperature sensor max 85% degree. Will
depend in supple voltage and load.
Ambient humidity Max 85% (No condensation)
Insulation class B 130 degree Celsius [266F]. Insulation resistance 100M
ohm.

MST431 can only be delivered if orders above 25 pcs

Torque/ speed curve for MST43x. Speed shown as fullstep/sec

and Voltage 80VDC.

MST430C213-X1AA9.0

MST432C213-X1AA9.0

For further information, please contact:

JVL Industri Elektronik A/S, Blokken 42, 3460 Birkerd, Denmark. Tel. +45 4582 4440.
E-mail: sales@jvl.dk. Web: www.jvl.dk

12.3 Threads
1:
2:

thread
uncoiled thread = wedge

pattern!
The helical curve is generated by a straight line being wound on a cylinder
surface under an angle
=

=
10.12.2015

with Ph the pitch for the helical curve

tan

Product Design, Unit12, Part 1: Bolted Fasteners

7 / 31

12.3.1 Single and multiple Threads

with n number of threads

Screws for fasteners:

single thread
Screws for power transmission: multiple threads

10.12.2015

Product Design, Unit12, Part 1: Bolted Fasteners

Acc. to: [Schlecht: Maschinenelemente 1]

8 / 31

12.3.2 Tolerance Classes for Threads

See also technical drawing!
Extra fine thread:
ISO tolerance 4H/5H and 4h/4e
Fine thread:
ISO tolerance 6H and 6g
for normal applications
Coarse thread:
ISO tolerance 7H and 8g
Here: 4H instead of H4!
Acc. to: [Roloff/Matek: Maschinenelemente]

Loaded cross section

10.12.2015

core cross section

Product Design, Unit12, Part 1: Bolted Fasteners

9 / 31

12.5 Loading of a Square Thread

Forces shown for the square thread (thread angle = 0).
For metric threads the thread angle is 0
additional components
Fs

Fs

Fcirc

Fcirc

Fcirc
Fs
Fn

Fn

Fs:

screw force

Fcirc:
Fn:

force at the circumference

normal force

10.12.2015

Product Design, Unit12, Part 1: Bolted Fasteners

Basic model:
Bolt:
square thread (blue)
Nut:
sliding member (red)
Acc. to: [Roloff/Matek: Maschinenelemente]

13 / 31

12.5.1 Consideration of Friction

Friction force is always directed against the lifting/lowering direction
Here: > 0
No self-locking

= =
Lifting:

Equilibrium !
Efficiency!

= +
Lowering:

To lift the sliding member

Fcirc has to be bigger

10.12.2015

To lower the sliding member Fcirc has to be less

Product Design, Unit12, Part 1: Bolted Fasteners

14 / 31

Acc. to: [Roloff/Matek: Maschinenelemente]

Consideration of Friction
Friction force is always directed against the lifting/lowering direction
Now: < 0
self-locking
Lifting:

= +
Lowering:

=
For self-locking an additional circumferial
force is required to lower the sliding
member.
All bolted joints use self locking!
Acc. to: [Roloff/Matek: Maschinenelemente]

10.12.2015

Product Design, Unit12, Part 1: Bolted Fasteners

15 / 31