This helps to establish a limiting condition above which the robot may not function optimally. After selecting the motor, it is important to estimate the overall efficiency of the mobile robot which involves the product of the wheel, motor, and gearing efficiencies. T 9,82 N 0,01 m (distance from motor shaft to. The rating torque of a motor is the torque necessary to produce its rated power (in HP or kW) at rating speed. Calculating the motors torque: T F d, where T torque, F force, d distance. Convert the given power and speed into the. F 10 kg 9,82m/s2 0,1 F 9,82 N to push the object. The relation between the Power speed and the torque formula is. In pounds at a foot radius, it is equal to the horsepower times 5252 divided by the rating speed. To calculate the force required to move the object: F m g u, F force, m mass of object, g gravity constant, u friction. Then it is necessary to decide on the maximum linear speed to be attained by the robot in one second.įurthermore, it is a good design practice to determine the mass of the robot before sizing or selecting a motor. Calculate Motor Torque The rating torque of a motor is the torque necessary to produce its rated power (in HP or kW) at rating speed. This leads to asking pertinent questions as follows: Is the surface on the topography an inclined plane and by how much angle is the surface inclined? Is it on a smooth or flat surface? Is the topography an undulating one? What number of wheels will provide motion for the robot and how many of those wheels will be driven by DC motors? Immediately following the number of wheels is the wheel diameter. Torque is defined as rFsin, where F is the force, r is the distance from the pivot that the force is applied, and is the angle between r and F. To properly size a motor for a wheeled mobile robot, it is important to focus on the situations prevailing in the topography where the robot will accelerate from rest to full speed.
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