9.5 MOTOR AND ADAPTER SIZING - S-Division-2022-2023-Odd/Repo-06 GitHub Wiki
Mass of Motor = 300g
Mass of Clamp = 50g
Mass of Wheel = 50g
MASS OF BELT:
Length of belt = 125+125+23.55 = 273.55cm
Breadth of belt = 2cm
Height of belt = 0.25cm
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Volume of belt = L * B * H = 273.55 * 2 * 0.25 = 136.775cm^3
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Density of belt = 0.00114kg/cm^3
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Mass of belt = Density * Volume = 0.00114 * 136.775 = 0.15592kg
MASS OF PULLEY:
Radius = 4cm
Height = 3cm
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Volume of Pulley = 3.14 * R * R * H = 150.72cm^3
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Density of pulley = 0.00118kg/cm^3
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Mass of pulley = Density * Volume = 150.72 * 0.00118 = 0.177kg
MASS OF CLEANING UNIT:
Length = 89cm
Breadth = 4cm
Height = 0.25cm
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Volume = L * B * H = 89 * 4 * 0.25 = 89cm^3
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Density = 0.00118kg/cm^3
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Mass of cleaning unit = Density * Volume = 0.10502kg
MASS OF CLEANING MATERIAL:
Length = 85cm
Breadth = 4cm
Height = 0.75cm
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Volume = 225cm^3
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Density of cleaning material = 0.00025kg/cm^3
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Mass of Cleaning material = Density * Volume = 0.06375kg
Mnet = (2 * Mass of Motor) + (Mass of Clamp) + (Mass of Wheel) + (Mass of Belt) + (2 * Mass of pulley) + (Mass of Cleaning unit) + (Mass of Cleaning material)
Mnet = 1.37869kg
Torque = μ * Mnet * g * D/2 * η Here,
μ= Coefficient of Friction
T= Load Torque in N-m (convert it into kg-cm)
D= Diameter of the pulley in cm
g= acceleration due to gravity
η= Drive efficiency(assuming it as 1)
Torque = 8.2714kg-cm
Torque due to 1 pulley is 8.2714/2= 4.1357kg-cm
MOTOR SIZING:
| RPM at 12V | Rated torque in kg-cm at 12V |
|---|---|
| 1000 | 0.5 |
| 500 | 0.7 |
| 300 | 1.2 |
| 200 | 1.5 |
| 150 | 2 |
| 100 | 2 |
| 60 | 3.6 |
| 45 | 4.2 |
| 30 | 5.7 |
| 10 | 7 |
| 3.5 | 7 |
As per the calculations torque comes out to be 4.1357kg-cm so the best suited DC geared motor is of the specification 45 rpm
P= 2 * π * N * T/60 Here,
P= Power in watts/min
N= Revolutions per minute(speed)
T= Torque in kg-cm
P=2 * 3.14 * 45 * 4.1357 / 60 Power=19.47watts/min
ADAPTOR SIZING:
| Sl.no | Components | Qunatity | Operating Voltage | Operating current of each component | Totat current |
|---|---|---|---|---|---|
| 1 | DC geared motors | 2 | 12v | 300mA | 300 x 2 = 600mA |
| 2 | Aurdino mega 2560 | 1 | 5v | 100mA | 100 x 1 = 100mA |
| 3 | LED lighting | 2 | 3.6V | 30mA | 30 x 2 = 60mA |
| 4 | Two channeled relay module | 2 | 5V | 70mA | 70 x 2 = 140mA |
| 12V | 5V |
|---|---|
| 300mA = 0.3A | 850mA = 0.85A |
Factor of safety = 1.2
| 12V | 5V |
|---|---|
| 0.3x1.2 = 0.36A | 0.85x1.2 = 1.02A |