RANGOLI PEN

Rod

Base

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Assembled

model

SL NO	PART NAME	MATERIAL WITH WHICH PART IS MADE OF	DESCRIPTION ON ABOUT	QUANTITY REQUIRED
1	Servo motor	-	90 degree	1
2	DC motor	-	60 rpm	2
3	Rangoli pen	plastic		1
4	Wheels		12mm diameter	4
5	Screws		12mm with 24 bolts	12
6	Screw slots			4
7	Small screw		12mm diameter with 10 bolts	8
8	Battery		9V	2
19	Arduino Mega			1

Total mass calculation

Density of foam sheet= 25*10^-6 kg/cm^3

Density of rubber= 1.52*10^-3 kg/cubic cm

Volume of base= 252 cubic cm

Mass 1=volume of basedensity of foam sheet=2522510^-6 kg/cm^3=0.0063 kg/cm^3 Mass 2=rubber volumedensity of rubber= 4(6.5*1.38)=0.0358kg

Mass of dc motor=2*0.09=0.18kg Mass of batteries=(for 12v)+(for 5v)=0.5+0.045=0.545kg

Total mass of the bot=0.347+0.0358+0.18+0.545=1.1078kg

FORCE CALCULATION: F=mg F=1.1078*9.81=10.8564N

TORQUE CALCULATION: T=(F*D)/2

Diameter of wheel=10.5cm

T=(10.85610.5)/2 0.85=48.4449 N-cm

1 N-cm=9.8kg-Cm

T=48.4449/9.8=4.9433Kg-cm

Total torque=TFOS=4.9433*1.5=7.4150 Kg-cm

We are using 2 motor torque =7.4150/2=3.7075 kg-cm(approx)= 30rpm

	sl no	components	operating voltage	maximum current
	1	2 DC motor	12 v	1300mA
	2	1 arduino mega	12v	100mA
	3	1 IR sensor	5v	40mA