7. RESOURCE SPECIFICATION - P-Division-2022-2023-Odd/Repo12 GitHub Wiki
DC MOTOR SIZING
MASS OF FOUR WHEELS = 194g
MASS OF TWO DC MOTORS = 200g
MASS OF ULTRASONIC SENOR= 8.5g
VOLUME OF WHOLE BODY
V1 = 200 X 80 X 120 = 1920000 mm^3 = 1920cm^3
V2 = 170 X 200 X 120 = 4080000 mm^3 = 4080cm^3
V3 = 80 X 80 X 90 = 576cm^3
V4 = 120 X 10 X 52 X 4 = 249.6cm^3
V5 = 80 X 10 X 25 = 40cm^3
V6 = 100 X 10 X 55 = 110cm^3
TOTAL VOLUME= 6975.6 cm^3
TOTAL MASS OF THE BODY = 7378.1 g = 7.3 kg
FORCE = 0.85 X 7.3 = 6.205
TORQUE = 6.205 X 3.2 X 1.5 = 29.7 = 29.7/9.8 = 3.03 kg-cm
MOTOR - 60RPM
ADAPTER - 12V
SERVO MOTOR SIZING
V1 = 4 X 12 X 2.2 cm = 105.6 x 2 = 211.2 cm^3
MASS1 = 1.18 X 10^-3 X 211.2 = 0.249 kg
V2 = 4 X 1.9 X 12.5 cm - 5.5 x 2 x 4 = 95 - 44 = 51 x 2 =102 cm^3
MASS2 = 0.120 kg
V3 = 2.5 X 0.6 X 4 + 2.2 X 0.6 X 4 = 11.28 X 2 = 22.56 cm^3 X 2 = 45.12 cm^3 = 45.12 + 3 X 0.6 X 4 = 73.92 cm^3
MASS3 = 0.087 kg
TOTAL MASS = 0.436 kg
TORQUE = 4.468 X 12 X 1.5 = 53.625 X 1.5 = 80.4384 kg-cm = 80.4384/9.8 = 8.208 kg-cm
WE USE TOWER PRO MG996R SERVO MOTOR
OPERATING VOLTAGE OF THIS SERVO MOTOR IS 4.8-6 V
ADAPTER IS - 5 V ADAPTER