6.Resource Specification - CEER-C/C4 GitHub Wiki

Motor And Adaptor Selection.

      1.DENSITY OF ACRYALIC SHEET=1.18g/cm^3.
      2.ACCLERATION DUE TO GRAVITY(g)=9.806m/s^2.

6.1 MOTOR SELECTION.

6.11 Motor selection for Arm 1:

Volume 1(Arm 1) =l * b * h =27 * 0.4 * 4 =43.2cm^3.

Volume 2(Arm 2) =14 * 4 * 0.2 =11.2cm^3.

Volume 5(Object) =3 * 3 * 3 =27cm^3.

      MASS=DENSITY * VOLUME

M1=50.976gm

M2=9gm

M3=13.216gm

M4=31.86gm

M5=120gm

M6= 35gm

M7=27gm

         TOTAL MASS=287.052gm   or 0.287kg

Force Calculation

   force = m * g * u
         =0.287 * 9.806 * 0.4
         =1.125kg m /s^2

By converting force to newton:

    force =m * g * u * 9.806
          =1.125 * 9.806
          =11.03N

Torque Calculation

       Torque=f * r * fos
             =11.03 * 0.023 * 1.5
             = 0.3805 N-m
             =0.380/0.098
             =3.88 kg-cm

6.12 Motor Selection For Arm 2:

      Total Mass=M4+M5+M6+M7
                = 213.86gm
                =0.213kg

Force Calculation

      Force=m * g * u
           =0.213 * 9.806 * 0.4
           =0.838 kg m/s^2

By converting force to Newton

                 force =m * g * u * 9.806
                 =0.838 * 9.806
                 =8.22 N

Torque Calculation

       Torque=f * r * fos
            =8.22 * 0.023 * 1.5
             =0.283 N-m
            =0.283/0.098
            =2.89 kg-cm

6.13 Motor Selection For pulley:

      Total Mass=M4+M6
                =66.86gm
                 =0.066 kg

Force Calculation

       Force=m * g * u
            =0.0668 * 9.8 * 0.4
            =.2618 kg m/s^2

By converting force to newton:

      Force =m * g * u * 9.806
            =0.2618 * 9.806
            =2.567 N

Torque Calculation

    Torque=f * r * fos
          =2.567 * 0.08 * 1.5
          =0.308 N-m
          =0.308/0.098
          =3.14 kg-cm

6.2 Adapter Selection:-

5v	Qty	Current	Total Current
MG996R Servo Motor	1	700mA	700mA * 1.5=1.05A
MG90S Servo Motor	1	220mA	220mA * 1.5=0.33A
Arduino Mega 2560	1	400mA	400mA * 1.5=0.6A

         Total Current=1.05+0.33+0.6=1.98 A
        
          Power=V * I= 5 * 1.98=9.9 W

For Dc Motor

12V	Qty	Current	Total Current
10 rpm	1	70mA	70mA * 1.5=.105A

    Power=V * I
         =12 * 0.105
         =1.26 W

   
        total Power=9.9 + 15.15 =25.05 W