- Learning Robotics using Python
- Lentin Joseph
- 241字
- 2021-06-25 21:04:10
Calculation of motor torque
Let's calculate the torque required to move the robot:
- Number of wheels = Four wheels including two caster wheels.
- Number of motors = Two.
- Let's assume the coefficient of friction is 0.6 and radius of the wheel is 4.5 cm.
- Take the total weight of robot = weight of robot + payload = (W = mg) = (~100 N + ~20 N) W= ~ 150 N, whereas total mass = 12 Kg.
- The weight acting on the four wheels can be written as 2 * N1 + 2 * N2 = W; that is, N1 is the weight acting on each caster wheel and N2 on motor wheels.
- Assume that the robot is stationary. The maximum torque is required when the robot starts moving. It should also overcome friction.
- We can write the frictional force as robot torque = 0 until the robot moves. If we get the robot torque in this condition, we get the maximum torque as follows:
-
- μ * N * r - T = 0, where μ is the coefficient of friction, N is the average weight acting on each wheel, r is the radius of wheels, and T is the torque.
- N = W/2 (in the robot, actuation is only for two wheels, so we are taking W/2 for computing the maximum torque).
- Therefore, we get: 0.6 * (120/2) * 0.045 - T = 0
- Hence, T = 1.62 N-m or 16.51 Kg-cm
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