7.MOTOR SIZING - O-Division-2020-2021-Even/Repo-15 GitHub Wiki
DC geared motor sizing for linkage mechanisms
* The relationship between power, Speed and torque
P=2piNT/60
p=(2*3.14*15*3.55)/60
p=5.5735watt
* Torque Calculation
T=F*r=F*d/2
* Vertical force
F=W=mg
to find force we have to find mass of the linkage bars
m=l*b*h*density
m=10*3*4*1.185 (density for acrylic sheet is 1.185g/cm^3)
m=142.2grams
m=0.142kg
Now we know that m=0.142kg and g=9.8m/s^2
F=W=m*g
F=W=0.142*9.8
F=W=1.3916N
* Torque Calculation
T=F*r=F*d/2
T=1.3916*0.5/2
T=0.3479N-m
T=0.3479*100/9.8kg-cm
T=3.55kg-cm
multiply torque with factor of safety that is 1.5
T=3.55*1.5kg-cm
T=5.325kg-cm
Our final torque is 5.325kg-cm at 12v so the rated rpm at 12v is 15rpm
Motor sizing for servo motor
* Torque Calculation
T=F*r=F*d/2
* Horizontal force
F=mu*W
W=mg
m=l*b*h*density
m=10*15*5*1.185
m=888.75grams
m=0.888kg
Now we know that m=0.888kg and mu=0.5
F=mu*W
F=0.888*0.5
F=0.444N
* Torque Calculation
T=F*r=F*d/2
T=0.444*5/2
T=0.444*2.5
T=1.11N-m
T=1.11*100/9.8kg-cm
T=11.32kg-cm
multiply torque with factor of safety that is 1.5
T=11.32*1.5
T=16.98kg-cm