7 Motor selection and adapter - A-Division-Even-2024-25/Repo-06 GitHub Wiki

motor calculations

Step 1: Calculate Weight Force Formula: F = m × g Given: m = 1.043 kg, g = 9.81 m/s² Calculation: F = 1.043 × 9.81 = 10.229 N

Step 2: Torque Required to Move the Bot Formula: Torque = F × r Given: r = 0.02 m (2 cm pulley radius) Calculation: Torque = 10.229 × 0.02 = 0.2046 Nm Required Torque ≈ 0.205 Nm

Step 3: Speed with 60 RPM Motor Pulley Circumference: C = 2 × π × r = 2 × 3.1416 × 0.02 = 0.1256 m Distance moved per minute: 60 × 0.1256 = 7.536 m/min Speed: 7.536 ÷ 60 = 0.1256 m/s = 12.56 cm/s

Step 4: Required RPM to Move at 5 cm/s Formula: RPM = (Speed × 60) ÷ (2 × π × r) Calculation: RPM = (0.05 × 60) ÷ (2 × 3.1416 × 0.02) ≈ 3 ÷ 0.1256 ≈ 23.87 RPM

Step 5: Suitability of 60 RPM Motor

Required Torque: ~0.205 Nm

Johnson 60 RPM motor provides ~0.3–0.5 Nm → Sufficient

Speed at 60 RPM: 12.56 cm/s → Higher than required (5 cm/s)

Can reduce speed via PWM control or software

Conclusion: The 60 RPM motor is suitable in terms of torque and can be used effectively. Use PWM or code-based speed control to regulate its motion for precision.