This is a data test conducted by HONPINE for a harmonic AC rotary actuator based on a specific customer's needs.

1,Validation Procedure

Based mainly on the dynamic load distributions under three types of Class‑B road profiles, the maximum and mean values are compared with the motor supplier (HONPINE) allowable instantaneous and continuous values for bending moment, radial force, and axial force.

Figure 1. Random rough road surface

From this plot, the mean dynamic load is 2200 N and the peak dynamic load is 3300 N.

Figure 2. Sinusoidal road surface

From this plot, the mean dynamic load is 2050 N and the peak dynamic load is 4200 N.

Figure 3. Step road surface

From this plot, the mean dynamic load is 2000 N and the peak dynamic load is 3500 N.

2. Other information

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• Dimension value

• Drive hole

• Geometry

• OK / Cancel

Figure 4. Scrub radius measurement

1、Kingpin inclination angle is 8.7°.

2、The lateral distance from the intersection of the extended kingpin axis with the ground to the tire center: 0.155 m.

3、The longitudinal distance from the intersection of the extended kingpin axis with the ground to the tire center: can be regarded as 0.

4、sin 8.7° = 0.1512, cos 8.7° = 0.9885.

5、Equivalent lever arm L_gnd = 0.155 m.

3. Calculation method

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• Axial force = Fz · cosθ

• Radial force = Fz · sinθ

• Bending moment = (Radial force) · L_gnd

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Table headers: Road condition | Dynamic load | Axial force | Radial force | Bending moment

Row labels: Random rough—Average / Peak; Sinusoidal—Steady-state / Peak; Step—Average / Peak

Therefore, the following can be calculated:

These calculations show that the radial force and bending moment are fully within the motor capacity range; however, the axial force exceeds the allowable range in some cases.

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Table headers: Road condition | Dynamic load | Axial force (150 kg) (N) | Axial force (130 kg) (N) | Axial force (125 kg) (N) | Axial force (120 kg) (N) | Motor allowable range

Row labels: Random rough—Average / Peak; Sinusoidal—Steady-state / Peak; Step—Average / Peak

Note: the unsprung mass is set to 150 kg here, while the actual value is about 120 kg. Therefore, we scale 150 kg down proportionally to 130, 125, and 120 kg to compare the axial force with the motor allowable range.

Figure 6. Axial force comparison under 150, 130, 125, and 120 kg conditions

It can be seen that at 150 kg, the random rough road mean, the sinusoidal road mean, and the sinusoidal road peak all exceed the motor allowable range. At 130 kg, only the sinusoidal road peak exceeds the continuous allowable value by 98.4 N. At 125 kg, the requirement is met.

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HAS/HAT/HAM/HAG series

Model

Allowable continuous bending moment (Mb di)

Allowable instantaneous bending moment (Mb max)

Allowable continuous radial force (Ft di)

Allowable instantaneous radial force (Ft max)

Allowable continuous axial force (Fa di)

Allowable instantaneous axial force (Fa max)

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Selection HAT/HATF-

Gear ratio

Peak torque / Rated torque

Max speed / Rated speed

Max current / Rated current

Torque constant

Phase-to-phase resistance / inductance

Back-EMF constant

Absolute encoder: type; single-turn resolution; multi-turn revolution counter

Single-direction positioning accuracy

Repeatability

Tilt stiffness / Torsional stiffness

Rotor inertia (without brake / with brake)

Number of motor poles

Overlay: “Already the last page”

4. Summary

Radial force and bending moment meet the requirements for all conditions, including the 150 kg single-wheel unsprung-mass simulation; axial force meets the motor allowable range when the unsprung mass is 125 kg.

In addition, considering the damping effect of the shims and bushings, and the slight attenuation of dynamic load as it passes through the wheel and steering knuckle,