Motor Sizing

1.Weight of the bot= 5kg

• F=m*g
• 5*9.8= 49N

*Volume: (15)(15)(*30)=6750cm^3

**Density:0.7404g/cm^3

**mass: = DensityVolume = 0.74046750 = 5000g= 5kg

Torque applied to the Bot

*Radius(r)of the wheels=11.2cm

• Torque for motor required is :T=F*r/9.8
• T=49*11.2/9.8
• T=55kg-cm

FOS=1.2

• Total Torque= 66kg-cm
• We are using 4 motors so we divide the torque by 4
• torque for one motor= 16.5kg-cm
• Hence we will be needing 4 geared DC motors with 10rpm at 12V
• The 5th dc motor attached for the mop will be of 100rpm at 12v

Battery Sizing

SL.NO	COMPONENTS	CAPACITY	QUANTITY	TOTAL CAPACITY
1.	Arduino UNO	5V,200mA	1	200mA
2.	RF24 Transmitter	5V,40mA	1	40mA
3.	Accelerometer	5V,2mA	1	2mA
4.	DC motor	12V,10rpm, 650mA	4	2600mA
5.	DC motor	12V,100rpm,650	1	650mA
6.	LED	3V	1	200 mA

Total Rating :

Voltage rating	Current rating
5V	242mA
12V	3290mA
3V	200mA

Including Factor of safety:

Voltage rating	Current rating
5V	242 mA
12V	3900 mA
3V	200 mA

FOS: 1.2 (Including FOS) Required Adapters for our course project are:

•5V,0.5A

•12V,4A

•3V,0.2A