Advanced Drivetrain Calculations.ppt

Advanced Drivetrain Calculations John E. V-Neun, Team 229 John A. Neun, P.E., Team 20 Goals for this Session Foundation for Gearbox Design Review principles in drivetrain design Examine trade-offs Formulas for modeling and design Sample Calculation Prerequisites Assume basic familiarity with: Principles of Physics and Calculus Forces, Power, Torque, Acceleration, Friction, Rotational vs. Linear Motion Principles of DC Motors Principles of Gear Trains Ken and Paul’s seminar Gearbox Design Process Transmission Goal: Translate Motor Motion and Power into Robot Motivation Motor Speed (rpm) Torque Robot Speed (fps) Weight First AnalysisPushing against a wall… Objective: Determine maximum load limit System must withstand max load Run continuously under maximum load Not overload motors Not overload circuit breakers (Not break shafts, gears, etc.) Suboptimum – ignore limit (risk failure) Pushing against a wall… Known Factors: Motor Usage Motor Characteristics Wheel Friction Max Motor Load (at 40 amps) Solve For: Required Gear Ratio Max Motor Load Calculate the Max Motor Load Calculate the Gearbox LoadFind Required Gearbox Ratio Friction between wheel and carpet acts as a “brake”, and provides gearbox load. Find torque load per gearbox. Now Solve for Required Gear Ratio Check Robot Speed How fast will the robot go with this required gear ratio? Remember Units!!! Is this fast enough? Major Design Compromise… Is this speed fast enough? No? Decrease Gearbox Load Increase Gearbox Power Live with the low speed… Design two speeds! Low speed/high force High speed/low force Risk failure Design is all about tradeoffs Secondary AnalysisPlotting Acceleration Calculate Motor Current Draw and Robot Velocity over time (during robot acceleration). Time to top speed Important to show how drivetrain will perform (or NOT perform!) If a robot takes 50 feet to accelerate to top speed, it probably isn’t practical! Plotting Acceleration Voltage to resting motor Start at stall condition