MASS CALCULATION

Top plate

Dimension:

l=25cm

b=15cm

w=0.1cm

Volume of top plate = 37.5 cm^3

Side plate

l=5 cm

h=5.4 cm

w=0.1 cm

V(one side) = 2.68 cm^3

V(both side)4*2.68 cm^3 = 10.73cm^3

Mass of steel frame(body)

V(body)= V(top) + V(sides) + V(front)

V(body)=37.5 cm^3 + 4.88cm^3 + 5.85 cm^3 = 46.23cm^3

given density of mild steel(rho) = 7.85g/cm^3

mass= rho * V = 7.85g/cm^3 * 46.23cm^3 =0.378 kg

Total mass of machine(MASS)

Mass(total) = mass(body) + (4* wheels) + (2*DC motors) + Extra weight

Mass(total) = 0.378kg + (40.08kg) + (20.3kg) + 0.8kg

Mass(total) = 2.098kg

FORCE CALCULATION

given friction(µ) between rubber and concrete is 0.8

Force = µ * MASS = 0.8 * 2.098kg = 1.678 N

TORQUE CALCULATION

T = F * r

given radius of wheel(r) = 3.25

T = 1.678N * 3.25cm = 5.454N-cm (for both wheels)

Torque for one wheel is 5.454/2 = 2.7274N-cm

Hence 150 RPM of two DC motor will be required

BATTERY SIZING

SL.NO.	Components	Capacity	Quantity	Total Capacity
1	Arduino mega 2560	12V,200 mA	2	400mA
2	IR Sensor	5V,40mA	1	40 mA
3	relay module	5V,80mA	2	160mA
4	DC Motor	12 V,1200mA	2	2400mA
5	DC Motor	9 V,100mA	3	300mA
6	Ultrasonic Sensor	5V, 8mA	1	8mA

Voltage Ratings	Current Ratings
12V	3100 mA=3.10 A
5V	208 mA=0.208A

After APPLYING FACTOR OF SAFETY (FOS) :- FOS = 1.2 Total ratings:-

Voltage Ratings	Current Ratings
12 V	3.10 x 1.2=3.72A
5 V	0.208 x 1.2=0.25A

Hence we will use two adapters of 3.72A,12V current from a led acid battery and 0.3A, 5V from arduino(connected with a 5V source)